Visual servoing in robotics scheme using a camera/laser-stripe sensor

Khadraoui, Djamel; Motyl, Guy; Martinet, Philippe; Gallice, J.; Chaumette, François

doi:10.1109/70.538978

Cited by 54 publications

(28 citation statements)

References 6 publications

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“…If these measurements are stored, a temporal analysis allows the handler to determine the trajectory of the robot. This information can be used in robot control and path planning [12][13][14].…”

Section: Camera Localizationmentioning

confidence: 99%

A comparative review of camera calibrating methods with accuracy evaluation

Salví

Armangué

Batlle

2002

Pattern Recognition

406

186

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Camera calibrating is a crucial problem for further metric scene measurement. Many techniques and some studies concerning calibration have been presented in the last few years. However, it is still di cult to go into details of a determined calibrating technique and compare its accuracy with respect to other methods. Principally, this problem emerges from the lack of a standardized notation and the existence of various methods of accuracy evaluation to choose from. This article presents a detailed review of some of the most used calibrating techniques in which the principal idea has been to present them all with the same notation. Furthermore, the techniques surveyed have been tested and their accuracy evaluated. Comparative results are shown and discussed in the article. Moreover, code and results are available in internet. ?

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Section: Camera Localizationmentioning

confidence: 99%

A comparative review of camera calibrating methods with accuracy evaluation

Salví

Armangué

Batlle

2002

Pattern Recognition

406

186

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“…The regulation of the task function to can be done by using a simple proportional control law of the form [1], [20] (3) with a positive gain, and the pseudoinverse of a model or an approximation of . With this control law, the closed-loop equation of the system is (4) A key issue in visual servoing is to ensure that the desired state is reached for any initial pose.…”

Section: Definition and Regulation Of The Robotic Taskmentioning

confidence: 99%

“…By using different types of diffracting lenses, several patterns are available: from simple points and lines to more complex ones like grids, dot arrays, and circles. In visual servoing, laser planes have been suggested for positioning tasks [2]- [4].…”

Section: A Proposal For Structured Light Sensormentioning

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%

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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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“…There are few works in this field and they are mainly based on the use of laser pointers and laser planes [2]- [4]. Furthermore, they are usually designed for positioning with respect to planar objects or specific non-planar objects like spheres, for example.…”

Section: Introductionmentioning

confidence: 99%

An approach to visual servoing based on coded light

Pagès

Collewet²,

Chaumette³

et al.

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

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Abstract-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.

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Visual servoing in robotics scheme using a camera/laser-stripe sensor

Cited by 54 publications

References 6 publications

A comparative review of camera calibrating methods with accuracy evaluation

A comparative review of camera calibrating methods with accuracy evaluation

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

An approach to visual servoing based on coded light

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