Jump to : Download | Abstract | Contact | BibTex reference | EndNote reference |


C. Collewet, F. Chaumette, P. Loisel. Image-based visual servoing on planar objects of unknown shape. In IEEE Int. Conf. on Robotics and Automation, ICRA'01, Volume 1, Pages 247-252, Seoul, Korea, May 2001.

Download [help]

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) 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


This paper proposes a way to achieve positioning tasks by visual servoing, for any orientation of the camera, when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless but no knowledge about its shape or pose is required. To simplify the problem, first, we treat the case of a threadlike object and then we show how our approach can be generalized to an object with three particular points. The control law is based on the use of 2d visual servoing and on an estimation of a 3d parameter. Experimental results relative to objects of unknown shape are given to validate the approach. In addition, an algorithm to estimate the depth between the object and the camera is provided which leads to the dimensions of the object


Francois Chaumette

BibTex Reference

   Author = {Collewet, C. and Chaumette, F. and Loisel, P.},
   Title = {Image-based visual servoing on planar objects of unknown shape},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'01},
   Volume = {    1},
   Pages = {247--252},
   Address = {Seoul, Korea},
   Month = {May},
   Year = {2001}

EndNote Reference [help]

Get EndNote Reference (.ref)