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Journal Articles Advanced Robotics Year : 2009

Stereo tracking and servoing for space applications


This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.
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inria-00436743 , version 1 (27-11-2009)


  • HAL Id : inria-00436743 , version 1


F. Dionnet, Eric Marchand. Stereo tracking and servoing for space applications. Advanced Robotics, 2009, 23 (5), pp.579-599. ⟨inria-00436743⟩
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