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 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.

• Type: Conference
• Year: 2006
• Where: ICRA
• Authors: Jordi Pagès, Christophe Collewet, François Chaumette, Joaquim Salvi
• Keywords: ICRA 2006, Object Appearance, Robotics, Visual Features, Visual Servoing