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A Camera-Projector System for Robot Positioning by Visual Servoing

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 nontextured 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

IEEE

Author: Pagès Marco, Jordi
Collewet, Christophe
Chaumette, François
Salvi Mas, Joaquim
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 nontextured 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
Document access: http://hdl.handle.net/2072/63023
Language: eng
Publisher: IEEE
Rights: Tots els drets reservats
Subject: Reconeixement de formes (Informàtica)
Servomecanismes
Visió per ordinador
Pattern recognition systems
Computer vision
Title: A Camera-Projector System for Robot Positioning by Visual Servoing
Type: info:eu-repo/semantics/article
Repository: Recercat

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