Plane-to-plane positioning from image-based visual servoing and structured light

Author

Pages, Jordi ; Collewet, Christophe ; Chaumette, Francois ; Salvi, Joaquim

Author_Institution

Institut d´´lnformatica i Aplicacions, Girona Univ., Spain

Volume

1

fYear

2004

fDate

28 Sept.-2 Oct. 2004

Firstpage

1004

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.

Keywords

cameras; end effectors; image motion analysis; camera trajectory; end-effector; image processing; image-based visual servoing; laser pointers; plane-to-plane positioning; robotic manipulator; structured light; Cameras; Feature extraction; Image processing; Joining processes; Lighting control; Manipulators; Parallel robots; Robot vision systems; Robust stability; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8463-6

Type

conf

DOI

10.1109/IROS.2004.1389484

Filename

1389484