%0 Journal Article 
%F Pages06b
%A Pagès, J.
%A Collewet, C.
%A Chaumette, F.
%A Salvi, J.
%T Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
%J IEEE Trans. on Robotics
%V 	 22
%N 5
%P 1000-1010
%X This paper considers the problem of positioning an eye-in-hand system so that it gets parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, stability and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace and for which the global asymptotic stability is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3D visual servoing scheme but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally
%U http://rainbow-doc.irisa.fr/pdf/2006_itro_pages.pdf
%U http://dx.doi.org/10.1109/TRO.2006.878785
%8 October
%D 2006