Title :
Plane-to-plane positioning from image-based visual servoing and structured light
Author :
Pages, Jordi ; Collewet, Christophe ; Chaumette, Francois ; Salvi, Joaquim
Author_Institution :
Institut d´´lnformatica i Aplicacions, Girona Univ., Spain
fDate :
28 Sept.-2 Oct. 2004
Abstract :
In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory.
Keywords :
cameras; end effectors; image motion analysis; camera trajectory; end-effector; image processing; image-based visual servoing; laser pointers; plane-to-plane positioning; robotic manipulator; structured light; Cameras; Feature extraction; Image processing; Joining processes; Lighting control; Manipulators; Parallel robots; Robot vision systems; Robust stability; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389484
