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An approach to visual servoing based on coded light

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 objects or objects 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

© IEEE International Conference on Robotics and Automation : 2006 : ICRA 2006 : Proceedings, 2006, p. 4118-4123

IEEE

Autor: Pagès Marco, Jordi
Collewet, Christophe
Chaumette, François
Salvi, Joaquim
Data: 2006
Resum: 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 objects or objects 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
Format: application/pdf
Cita: Pagès, J., Collewet, C., Chaumette, F., i Salvi, J. (2006). An approach to visual servoing based on coded light. IEEE International Conference on Robotics and Automation : 2006 : ICRA 2006 : Proceedings, 4118-4123. Recuperat 01 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1642335
ISBN: 0-7803-9505-0
ISSN: 1050-4729
Accés al document: http://hdl.handle.net/10256/2472
Llenguatge: eng
Editor: IEEE
Col·lecció: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2006.1642335
Articles publicats (D-ATC)
És part de: © IEEE International Conference on Robotics and Automation : 2006 : ICRA 2006 : Proceedings, 2006, p. 4118-4123
Drets: Tots els drets reservats
Matèria: Servomecanismes
Visió artificial (Robòtica)
Robot vision
Títol: An approach to visual servoing based on coded light
Tipus: info:eu-repo/semantics/article
Repositori: DUGiDocs

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