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E. Marchand, F. Chaumette, F. Spindler, M. Perrier. Controlling the manipulator of an underwater ROV using a coarse calibrated pan tilt camera. In IEEE Int. Conf. on Robotics and Automation, ICRA'01, Volume 3, Pages 2773-2778, Seoul, Korea, May 2001.

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In this paper we present a vision-based method to control the displacement of robot arm mounted on an underwater ROV. A closed-loop system based on an eye-to-hand visual servoing approach has been designed to achieve this task. We show that, using such an approach, measuring the manipulator motion with proprioceptive sensors is not required to precisely control the end-effector motion. To maintain the end effector in the field of view, the camera orientation is also controlled. Presented results show the validity of the approach


Eric Marchand
Francois Chaumette
Fabien Spindler

BibTex Reference

   Author = {Marchand, E. and Chaumette, F. and Spindler, F. and Perrier, M.},
   Title = {Controlling the manipulator of an underwater ROV using a coarse calibrated pan tilt camera},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'01},
   Volume = {    3},
   Pages = {2773--2778},
   Address = {Seoul, Korea},
   Month = {May},
   Year = {2001}

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