Kermorgant11a
O. Kermorgant, F. Chaumette. Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 4518-4523, Shanghai, China, May 2011.
Download [help]
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 low-level sensor fusion scheme is presented for the positioning of a multi-sensor robot. This non-hierarchical framework can be used for robot arms or other velocity- controlled robots, and is part of the task function approach. A stability analysis is presented for the general case, then several control laws illustrate the versatility of the framework. This approach is applied to the multi-camera eye-in-hand/eye- to-hand configuration in visual servoing. Experimental results point out the feasibility and the effectiveness of the proposed control laws. Mono-camera and multi-camera schemes are compared, showing that the proposed sensor fusion scheme improves the behavior of a robot arm
Contact
BibTex Reference
@InProceedings{Kermorgant11a,
Author = {Kermorgant, O. and Chaumette, F.},
Title = {Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'11},
Pages = {4518--4523},
Address = {Shanghai, China},
Month = {May},
Year = {2011}
}
EndNote Reference [help]
Get EndNote Reference (.ref)