Real-Time Visual Servoing Using Controlled Illumination

Urban, Jean-Philippe; Motyl, Guy; Gallice, J.

doi:10.1177/027836499401300107

Cited by 18 publications

(5 citation statements)

References 8 publications

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“…The paper [48] by Urban et al is one of the earliest works using TLVS to go beyond heuristic approaches and adopt the modern IBVS framework. This pioneering work derives several interaction matrices for feature sets generated by projected laser planes and points on polygonal objects.…”

Section: Existing Textureless Visual Servoing Applications Addressing...mentioning

confidence: 99%

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Vision-Based Robotic Traversal of Textureless Smooth Surfaces

2020

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This study investigates visually localizing and servoing a serial robot's tooling assembly with respect to a smooth, contoured workpiece surface through the dynamic extraction and leveraging of characteristic surface invariants. A novel formulation for 6 degree-of-freedom (DoF) textureless visual servoing is proposed which significantly extends an existing 3 -DoF scheme designed for planar surfaces. A new family of observed feature sets, and their associated interaction matrices are proposed. Curvature conditions on the workpiece shape are derived under which local asymptotic stability for 6 -DoF is guaranteed.The approach naturally, and synergistically, combines the geometric tools of computer aided design, path generation, and computer numerical control (CAD/CAM/CNC) theory, with the manipulator control tools of visual servoing. Design focuses on ease of use by accepting task descriptions in the form of time-parameterized, surface-constrained curves which are compatible with the output of existing path generation systems. Thus, this work is a contribution to the growing collection of integrated-process manufacturing techniques streamlining and extending the traditional CAD/CAM/CNC pipeline. Full surface-relative 6 -DoF pose control is achieved with respect to a workpiece which need not be precisely located, or even stationary, in the workspace. Preliminary considerations are also made for a non-rigid workpiece. iv Validation of the proposed controller is performed in simulation, and physical experiment, using an articulated desktop robot equipped with only a monocular camera and sixteen laser pointers. Additional simulations, using a partially articulated overhead gantry robot model, demonstrate that the method is applicable to highly unstructured working conditions. Relative positioning on a non-stationary surface, toolpath tracking, and positioning with respect to a continuously deforming surface, are shown to be successful in simulation. v unique ideas, suggestions, and good humor.I am grateful to my parents for their enduring support of my academic pursuits. Completing this work would not have been possible without the encouragement and confidence of my closest family and friends.

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Section: Existing Textureless Visual Servoing Applications Addressing...mentioning

confidence: 99%

“…Experimental work in the paper demonstrated that a robot could be positioned above a car battery using two projected laser planes and a purely IBVS control law, as shown in Figure 6. (Source: [48])…”

Section: Existing Textureless Visual Servoing Applications Addressing...mentioning

confidence: 99%

Vision-Based Robotic Traversal of Textureless Smooth Surfaces

2020

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“…As far as L ωX is concerned (20) and,ṅn − nṅ being an anti-symmetric matrix, it can be demonstrated thaṫ…”

Section: A Definition Of the Interaction Matrix And Of The Control Lawmentioning

confidence: 99%

Visual servoing from lines using a planar catadioptric system

Marchand

Fasquelle

2017

2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features. Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information. Experiments using a mirror mounted on the end-effector of a 6 d.o.f robot validate the proposed approach.

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“…The planar object can be also modeled by using the following minimal equation: (6) with (7) The laser pointer can be modeled according to a vectorial equation as follows: (8) is the laser origin defined as the intersection of the laser direction with the plane , and is the distance from to . The interaction matrix of a normalized image point corresponding to the 3-D intersection of a laser pointer and a planar object is [21], [22] (9) with (10) A nonminimal representation for this matrix can be found in [3]. Note that the rank of is 1.…”

Section: A Laser Pointer Modelingmentioning

confidence: 99%

“…However, there are few visual servoing works exploiting structured light. The main contribution in this field is due to Motyl et al [3], [4], who modeled the kinematics of simple visual features obtained when projecting laser planes onto planar objects and spheres. Andreff et al [5] used a laser pointer in their approach based on 3-D lines in order to control the depth.…”

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confidence: 99%

Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

Pagès¹,

Collewet

Chaumette

et al. 2006

IEEE Trans. Robot.

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Abstract-This paper considers the problem of positioning an eye-in-hand system so that it becomes parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence, and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace, and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3-D visual servoing scheme, but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally.Index Terms-Convergence analysis, decoupled visual features, plane-to-plane task, structured light, visual servoing.

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Real-Time Visual Servoing Using Controlled Illumination

Cited by 18 publications

References 8 publications

Vision-Based Robotic Traversal of Textureless Smooth Surfaces

Vision-Based Robotic Traversal of Textureless Smooth Surfaces

Visual servoing from lines using a planar catadioptric system

Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

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