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DUGi: Ítem | Recercat - An approach to visual servoing based on coded light

Ítem


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

Autor: Pagès Marco, Jordi
Collewet, Christophe
Chaumette, François
Salvi Mas, Joaquim
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
Accés al document: http://hdl.handle.net/2072/63024
Llenguatge: eng
Editor: IEEE
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: Recercat

Matèries


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