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IROS
2006
IEEE

A Qualitative Visual Servoing to ensure the Visibility Constraint

9 years 5 months ago
A Qualitative Visual Servoing to ensure the Visibility Constraint
— This paper describes an original control law called qualitative servoing. The particularity of this method is that no specific desired value is specified for the visual features involved in the control scheme. Indeed, visual features are only constrained to belong to a confident interval, which gives more flexibility to the system. While this formalism can be used for several types of visual features, it is used in this paper for improving the on-line control of the visibility of a target. The principle is to make a compromise between the classical positioning task and the visibility constraint. Experimental results obtained with a six degrees of freedom robot arm are presented, demonstrating the performance of the proposed method.
Anthony Remazeilles, Nicolas Mansard, Franç
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Anthony Remazeilles, Nicolas Mansard, François Chaumette
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