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Conference Papers Year : 2006

A camera-projector system for robot positioning by visual servoing

Abstract

Positioning a robot with respect to objects by using data provided by a camera is a well known technique called visual servoing. In order to perform a task, the object must exhibit visual features which can be extracted from different points of view. Then, visual servoing is object-dependent as it depends on the object appearance. Therefore, performing the positioning task is not possible in presence of non-textured objets or objets for which extracting visual features is too complex or too costly. This paper proposes a solution to tackle this limitation inherent to the current visual servoing techniques. Our proposal is based on the coded structured light approach as a reliable and fast way to solve the correspondence problem. In this case, a coded light pattern is projected providing robust visual features independently of the object appearance.
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Dates and versions

inria-00350319 , version 1 (06-01-2009)

Identifiers

  • HAL Id : inria-00350319 , version 1

Cite

J. Pagès, Christophe Collewet, François Chaumette, J. Salvi. A camera-projector system for robot positioning by visual servoing. IEEE Int. Workshop on Projector-Camera Systems, PROCAM'2006, 2006, New York, France. pp.2-9. ⟨inria-00350319⟩
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