%0 Conference Proceedings
%F Kermorgant11a
%A Kermorgant, O.
%A Chaumette, F.
%T Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing
%B IEEE Int. Conf. on Robotics and Automation, ICRA'11
%P 4518-4523
%C Shanghai, China
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2011_icra_kermorgant.pdf
%U http://dx.doi.org/10.1109/ICRA.2011.5979715
%8 May
%D 2011