Comport06a

A.I. Comport, E. Marchand, F. Chaumette. Statistically robust 2D visual servoing. IEEE Trans. on Robotics, 22(2):415-421, April 2006.

Download [help]

Download paper: Doi page

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

A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination

Contact

Eric Marchand
Francois Chaumette

BibTex Reference

@article{Comport06a,
   Author = {Comport, A.I. and Marchand, E. and Chaumette, F.},
   Title = {Statistically robust 2D visual servoing},
   Journal = {IEEE Trans. on Robotics},
   Volume = {    22},
   Number = {2},
   Pages = {415--421},
   Month = {April},
   Year = {2006}
}

EndNote Reference [help]

Get EndNote Reference (.ref)