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L. Cui, E. Marchand, S. Haliyo, S. Régnier. Hybrid Automatic Visual Servoing Scheme using Defocus Information for 6-DoF Micropositioning. In IEEE Int. Conf. on Robotics and Automation, ICRA'15, Pages 6025-6030, Seattle, WA, May 2015.

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Direct photometric visual servoing uses only the pure image information as a visual feature, instead of using classic geometric features such as points or lines. It was demonstrated efficiently in 6 degrees of freedom (DoF) positioning. However, in micro-scale, using only image intensity as a visual feature performs unsatisfactorily in cases where the photometric variation is low, such as motions along vision sensor's focal axis under a high magnification. In order to improve the performance and accuracy in those cases, an approach using hybrid visual features is proposed in this paper. Image gradient is employed as a visual feature on z axis while image intensity is used on the other 5 DoFs to control the motion. A 6-DoF micro-positioning task is accomplished by this hybrid visual servoing scheme. The experimental results obtained on a parallel positioning micro-stage under a digital microscope show the robustness and efficiency of the proposed method


Eric Marchand

BibTex Reference

   Author = {Cui, L. and Marchand, E. and Haliyo, S. and Régnier, S.},
   Title = {Hybrid Automatic Visual Servoing Scheme using Defocus Information for 6-DoF Micropositioning},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'15},
   Pages = {6025--6030},
   Address = {Seattle, WA},
   Month = {May},
   Year = {2015}

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