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ICRA
2002
IEEE

Is 3D Useful in Stereo Visual Control?

9 years 7 months ago
Is 3D Useful in Stereo Visual Control?
The main goal of this paper is the study of image-based stereo visual servoing. A pair of cameras is mounted on the end-effector of the manipulator arm. The visual features are the pair of images of an unknown object. The developed control laws use either the raw image points, or the estimated 3D coordinates. The experimental setup is challenging: large rotations are involved, images are noisy, and cameras are coarsely calibrated. In this setup, the trajectory of the end-effector differs notably, sometimes leading the arm near its joint range limits. Experimental results demonstrate that using pixel coordinates is disadvantageous, compared with 3D coordinates estimated from the same pixel data.
Enrique Cervera, François Berry, Philippe M
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Enrique Cervera, François Berry, Philippe Martinet
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