DUGiDocsPlane-to-plane positioning from image-based visual servoing and structured light
dc.contributor.author
dc.date.accessioned
2010-05-11T10:01:22Z
dc.date.available
2010-05-03T15:14:20Z
2010-05-11T10:01:22Z
dc.date.issued
2004
dc.identifier.citation
Pagès, J., Collewet, C., Chaumette, F., i Salvi, J. (2004). Plane-to-plane positioning from image-based visual servoing and structured light. IEEE/RSJ International Conference on Intelligent Robots and Systems : 2004 : IROS 2004 : Proceedings, 1, 1004-1009. Recuperat 11 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1389484
dc.identifier.isbn
0-7803-8463-6
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dc.description.abstract
In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory
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application/pdf
dc.language.iso
eng
dc.publisher
IEEE
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Reproducció digital del document publicat a: http://dx.doi.org/10.1109/IROS.2004.1389484
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© IEEE/RSJ International Conference on Intelligent Robots and Systems : 2004 : IROS 2004 : Proceedings, 2004, vol. 1, p. 1004-1009
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Articles publicats (D-ATC)
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Tots els drets reservats
dc.subject
dc.title
Plane-to-plane positioning from image-based visual servoing and structured light
dc.type
info:eu-repo/semantics/article
dc.rights.accessRights
info:eu-repo/semantics/openAccess
dc.identifier.doi