Visual servoing set free from image processing

8 years 9 months ago
Visual servoing set free from image processing
— This paper proposes a new way to achieve robotic tasks by visual servoing. Instead of using geometric features (points, straight lines, pose, homography, etc.) as it is usually done, we use directly the luminance of all pixels in the image. Since most of the classical control laws fail in this case, we turn the visual servoing problem into an optimization problem leading to a new control law. Experimental results validate the proposed approach and show its robustness regarding to approximated depths, non Lambertian objects and partial occlusions.
Christophe Collewet, Éric Marchand, Fran&cc
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Christophe Collewet, Éric Marchand, François Chaumette
Comments (0)