Paper Info
Title
Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
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
Year
DOI
Venue
2006
10.1109/TRO.2006.878785
IEEE Transactions on Robotics
Keywords
Field
DocType
Visual servoing,Cameras,Robot vision systems,Laser modes,Image processing,Convergence,Noise robustness,Optical control,Intelligent robots,Surgical instruments
Computer vision,Structured light,Workspace,Computer science,Control theory,Decoupling (cosmology),Image processing,Image noise,Robustness (computer science),Visual servoing,Artificial intelligence,Trajectory
Journal
Volume
Issue
ISSN
22
5
1552-3098
Citations 
PageRank 
References 
4
0.48
14
Authors
4
Name
Order
Citations
PageRank
J. Pages140.48
C. Collewet2544.43
F. Chaumette3161.08
J. Salvi41048.80