DocumentCode
2038591
Title
Multi-cameras visual servoing
Author
Malis, Ezio ; Chaumette, Fkanqois ; Boudet, Sylvie
Author_Institution
IRISA, Rennes, France
Volume
4
fYear
2000
fDate
2000
Firstpage
3183
Abstract
In this paper, the classical visual servoing techniques have been extended to the use of several cameras observing different parts of an object. The multi-camera visual servoing has been designed as a part of the task function approach. The particular choice of the task function allows one to simplify the design of the control law and the stability analysis. A positioning task on a cumbersome object has been realized using 2D and 2½D visual servoings with two cameras, mounted on a manipulator robot, and observing two different parts of the object
Keywords
Jacobian matrices; computer vision; manipulator dynamics; position control; servomechanisms; stability; Jacobian matrix; manipulators; multiple-camera system; position control; stability; task function; visual servoing; Calibration; Cameras; Hardware; Head; Image reconstruction; Layout; Manipulators; Robot vision systems; Stereo image processing; Visual servoing;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.845153
Filename
845153
Link To Document