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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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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


Francois Chaumette

BibTex Reference

   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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