Collewet00b
C. Collewet, F. Chaumette. A contour approach for image-based control of objects with complex shape. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00, Volume 1, Pages 751-756, Takamatsu, Japon, November 2000.
Download [help]
Download Hal paper:
Download paper:
Adobe portable document (pdf) 
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow
Abstract
We describe a method to achieve robotic positioning tasks by image-based visual servoing when the object being observed has a complex and unknown shape. We first focus on the computation of an analytical expression of the interaction matrix according to a polar description of the image contour of the object. Experimental results are presented to validate the proposed algorithm. In particular, the robustness of the control law is tested with respect to a coarse calibrated system, to an approximation of the depth of the object, and to partial occlusion
Contact
BibTex Reference
@InProceedings{Collewet00b,
Author = {Collewet, C. and Chaumette, F.},
Title = {A contour approach for image-based control of objects with complex shape},
BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00},
Volume = { 1},
Pages = {751--756},
Address = {Takamatsu, Japon},
Month = {November},
Year = {2000}
}
EndNote Reference [help]
Get EndNote Reference (.ref)