Title :
Position-based visual servoing using a coded structured light sensor
Author :
Heitzmann, T. ; Doignon, C. ; Albitar, C. ; Graebling, P.
Author_Institution :
Lab. des Sci. de l´´Image, Univ. Louis Pasteur de Strasbourg, Strasbourg
Abstract :
In this paper, we address a novel visual servoing technique in unknown environment with untextured objects by means of a structured light vision system. The scene surfaces are assumed to be piece-wise planar, however they are free to move and subjected to some deformations. We firstly present a robust coded pattern which allows a fast decoding and which quickly solves the correspondence problem between visual features. It can handle partial occlusions and it has been designed to navigate inside the human body with articulated endoscopes (C. Albitar et al., 2007) . To cope with object modeling, we consider the case of locally planar deformable surfaces and we propose a position-based visual servoing (PBVS) approach with structured light onboard. Such a pattern is very appropriate as it is very robust wrt occlusions, a well-known problem with PBVS when several visual features may get out of the camera field of view during the experiments.
Keywords :
decoding; endoscopes; image coding; medical image processing; medical robotics; visual servoing; articulated endoscopes; coded structured light sensor; fast decoding; object modeling; position-based visual servoing; robot vision; structured light vision system; Biological system modeling; Decoding; Deformable models; Endoscopes; Humans; Layout; Machine vision; Navigation; Robustness; Visual servoing; Structured light; coded pattern; visual servoing;
Conference_Titel :
Robotic and Sensors Environments, 2008. ROSE 2008. International Workshop on
Conference_Location :
Ottawa, ON
Print_ISBN :
978-1-4244-2594-5
Electronic_ISBN :
978-1-4244-2595-2
DOI :
10.1109/ROSE.2008.4669193