Mezouar02b
Y. Mezouar, F. Chaumette. Avoiding self-occlusions and preserving visibility by path planning in the image. Robotics and Autonomous Systems, 41(2):77-87, November 2002.
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Abstract
In this paper, we address the problem of generating trajectories of some image features in order to control efficiently a robotic system using an image-based control strategy. First, physically valid C2 image trajectories which correspond to quasi-optimal 3D camera trajectory are performed. Both self-occlusion avoidance and visibility constraints are taken into account at the task planning level. The good behavior of image-based control when desired and current camera positions are close is then exploited to design an efficient control scheme. Real-time experimental results using a camera mounted on the end effector of a six degree-of-freedom robot confirm the validity of our approach
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BibTex Reference
@article{Mezouar02b,
Author = {Mezouar, Y. and Chaumette, F.},
Title = {Avoiding self-occlusions and preserving visibility by path planning in the image},
Journal = {Robotics and Autonomous Systems},
Volume = { 41},
Number = {2},
Pages = {77--87},
Publisher = {Elsevier},
Month = {November},
Year = {2002}
}
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