Dame09a
A. Dame, E. Marchand. Entropy-based visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'09, Pages 707-713, Kobe, Japan, May 2009.
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
In this work we propose a new way to achieve visual servoing using directly the information (as defined by Shannon) of the image. A metric derived from information theory, mutual information, is considered. Mutual information is widely use in multi-modal image registration (medical applications) since it is insensitive to changes in the lighting condition and to a wide class of non-linear image transformation. In this paper mutual-information is used as a new visual feature for visual servoing and allows us to build a new control law that allows to control the 6 dof of the robot. Among various advantages, this approach does not require any matching nor tracking step, is robust to large illumination variation and allows to consider, within the same task, different image modalities. Experiments that demonstrate these advantages conclude the paper
Contact
BibTex Reference
@InProceedings{Dame09a,
Author = {Dame, A. and Marchand, E.},
Title = {Entropy-based visual servoing},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'09},
Pages = {707--713},
Address = {Kobe, Japan},
Month = {May},
Year = {2009}
}
EndNote Reference [help]
Get EndNote Reference (.ref)