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


C. Collewet, A. Alhaj, F. Chaumette. Model-free visual servoing on complex images based on 3D reconstruction. In IEEE Int. Conf. on Robotics and Automation, ICRA'04, Volume 1, Pages 751-756, New Orleans, Louisiana, April 2004.

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


We present a way to achieve positioning tasks by model-free visual servoing in the case of planar and motionless objects whose shape is unknown. Emphasize is made on the algorithm of 3d reconstruction which allows to synthetize easily the control law. More precisely, the reconstruction phase is based on the measurement of the 2D displacements in a region of interest and on the measurement of the camera velocity. However, we will show that the proposed algorithm is robust with respect to nonaccurate values of this velocity. 2D displacements rather than 2D motions are used to remove the assumption that the acquisition rate has to be high. In addition, a particular attention is paid to the complex case of large displacements to access high camera velocities. Once the parameters of the plane are sufficiently stable, a visual servoing scheme is used to control the orientation of the camera with respect to the object and to ensure that it remains in the camera eld of view for any desired orientation. The 3D reconstruction phase is maintained active during the servoing to improve the accuracy of the parameters and, consequently, to obtain a small positioning error. Experimental results validate the proposed approach


Francois Chaumette

BibTex Reference

   Author = {Collewet, C. and Alhaj, A. and Chaumette, F.},
   Title = {Model-free visual servoing on complex images based on 3D reconstruction},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'04},
   Volume = {    1},
   Pages = {751--756},
   Address = {New Orleans, Louisiana},
   Month = {April},
   Year = {2004}

EndNote Reference [help]

Get EndNote Reference (.ref)