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A.I. Comport, O. Tahri, E. Marchand, F. Chaumette. Visual servoing with respect to complex objects. In Int. Symp. on Robotics, ISR'04, Paris, France, March 2004.

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This paper presents new advances in the field of visual servoing. More precisely, we consider the case where complex objects are observed by a camera. In a first part, planar objects of unknown shape are considered using image moments as input of the image-based control law. In the second part, a pose estimation and tracking algorithm is described to deal with real objects whose 3D model is known. For each case, experimental results obtained with an eye-in-hand system are presented


Eric Marchand
Francois Chaumette

BibTex Reference

   Author = {Comport, A.I. and Tahri, O. and Marchand, E. and Chaumette, F.},
   Title = {Visual servoing with respect to complex objects},
   BookTitle = {Int. Symp. on Robotics, ISR'04},
   Address = {Paris, France},
   Month = {March},
   Year = {2004}

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