Plane-to-plane positioning from image-based visual servoing and structured light

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...

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Detalles Bibliográficos
Autores: Pagès Marco, Jordi, Collewet, Christophe, Chaumette, François, Salvi, Joaquim
Tipo de recurso: artículo
Fecha de publicación:2004
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10256/2256
Acceso en línea:http://hdl.handle.net/10256/2256
Access Level:acceso abierto
Palabra clave:Servomecanismes
Visió artificial (Robòtica)
Visió per ordinador
Percepció de la profunditat
Computer vision
Depth perception
Robot vision
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spelling Plane-to-plane positioning from image-based visual servoing and structured lightPagès Marco, JordiCollewet, ChristopheChaumette, FrançoisSalvi, JoaquimServomecanismesVisió artificial (Robòtica)Visió per ordinadorPercepció de la profunditatComputer visionDepth perceptionRobot visionIn 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 trajectoryIEEE2004info:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10256/2256http://hdl.handle.net/10256/2256© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2004 : IROS 2004 : Proceedings, 2004, vol. 1, p. 1004-1009Articles publicats (D-ATC)reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)Inglésinfo:eu-repo/semantics/altIdentifier/doi/10.1109/IROS.2004.1389484info:eu-repo/semantics/altIdentifier/isbn/0-7803-8463-6Tots els drets reservatsinfo:eu-repo/semantics/openAccessoai:recercat.cat:10256/22562026-05-29T05:05:01Z
dc.title.none.fl_str_mv Plane-to-plane positioning from image-based visual servoing and structured light
title Plane-to-plane positioning from image-based visual servoing and structured light
spellingShingle Plane-to-plane positioning from image-based visual servoing and structured light
Pagès Marco, Jordi
Servomecanismes
Visió artificial (Robòtica)
Visió per ordinador
Percepció de la profunditat
Computer vision
Depth perception
Robot vision
title_short Plane-to-plane positioning from image-based visual servoing and structured light
title_full Plane-to-plane positioning from image-based visual servoing and structured light
title_fullStr Plane-to-plane positioning from image-based visual servoing and structured light
title_full_unstemmed Plane-to-plane positioning from image-based visual servoing and structured light
title_sort Plane-to-plane positioning from image-based visual servoing and structured light
dc.creator.none.fl_str_mv Pagès Marco, Jordi
Collewet, Christophe
Chaumette, François
Salvi, Joaquim
author Pagès Marco, Jordi
author_facet Pagès Marco, Jordi
Collewet, Christophe
Chaumette, François
Salvi, Joaquim
author_role author
author2 Collewet, Christophe
Chaumette, François
Salvi, Joaquim
author2_role author
author
author
dc.subject.none.fl_str_mv Servomecanismes
Visió artificial (Robòtica)
Visió per ordinador
Percepció de la profunditat
Computer vision
Depth perception
Robot vision
topic Servomecanismes
Visió artificial (Robòtica)
Visió per ordinador
Percepció de la profunditat
Computer vision
Depth perception
Robot vision
description 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
publishDate 2004
dc.date.none.fl_str_mv 2004
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv http://hdl.handle.net/10256/2256
http://hdl.handle.net/10256/2256
url http://hdl.handle.net/10256/2256
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1109/IROS.2004.1389484
info:eu-repo/semantics/altIdentifier/isbn/0-7803-8463-6
dc.rights.none.fl_str_mv Tots els drets reservats
info:eu-repo/semantics/openAccess
rights_invalid_str_mv Tots els drets reservats
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv © IEEE/RSJ International Conference on Intelligent Robots and Systems : 2004 : IROS 2004 : Proceedings, 2004, vol. 1, p. 1004-1009
Articles publicats (D-ATC)
reponame:Recercat. Dipósit de la Recerca de Catalunya
instname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
instname_str Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15.811543

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