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Journal Articles IEEE Transactions on Robotics Year : 2006

Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

Abstract

This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, stability and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace and for which the global asymptotic stability is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.
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Dates and versions

inria-00350318 , version 1 (06-01-2009)

Identifiers

  • HAL Id : inria-00350318 , version 1

Cite

J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light. IEEE Transactions on Robotics, 2006, 22 (5), pp.1000-1010. ⟨inria-00350318⟩
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