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C. Teuliere, E. Marchand. A dense and direct approach to visual servoing using depth maps. IEEE Trans. on Robotics, 30(5):1242-1249, October 2014.

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This paper presents a novel 3-D servoing approach using dense depth maps to perform robotic tasks. With respect to position-based approaches, our method does not require the estimation of the 3-D pose (direct), nor the extraction and matching of 3-D features (dense), and only requires dense depth maps provided by 3-D sensors. Our approach has been validated in various servoing experiments using the depth information from a low-cost Red Green Blue-Depth (RGB-D) sensor. Positioning tasks are properly achieved despite noisy measurements, even when partial occlusions or scene modifications occur. We also show that, in cases where a reference depth map cannot be easily available, synthetic ones generated with a rendering engine still lead to satisfactory positioning performances. Application of the approach to the navigation of a mobile robot is also demonstrated


Eric Marchand

BibTex Reference

   Author = {Teuliere, C. and Marchand, E.},
   Title = {A dense and direct approach to visual servoing using depth maps},
   Journal = {IEEE Trans. on Robotics},
   Volume = {    30},
   Number = {5},
   Pages = {1242--1249},
   Month = {October},
   Year = {2014}

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