Title :
Multi-cameras visual servoing
Author :
Malis, Ezio ; Chaumette, Fkanqois ; Boudet, Sylvie
Author_Institution :
IRISA, Rennes, France
Abstract :
In this paper, the classical visual servoing techniques have been extended to the use of several cameras observing different parts of an object. The multi-camera visual servoing has been designed as a part of the task function approach. The particular choice of the task function allows one to simplify the design of the control law and the stability analysis. A positioning task on a cumbersome object has been realized using 2D and 2½D visual servoings with two cameras, mounted on a manipulator robot, and observing two different parts of the object
Keywords :
Jacobian matrices; computer vision; manipulator dynamics; position control; servomechanisms; stability; Jacobian matrix; manipulators; multiple-camera system; position control; stability; task function; visual servoing; Calibration; Cameras; Hardware; Head; Image reconstruction; Layout; Manipulators; Robot vision systems; Stereo image processing; Visual servoing;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845153
