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- W2138561222 abstract "Visual servoing techniques consist in using the data provided by a vision sensor in order to control the motions of a dynamic system. Such systems are usually robot arms, mobile robots, aerial robots,… but can also be virtual robots for applications in computer animation, or even a virtual camera for applications in computer vision and augmented reality.A large variety of positioning tasks, or mobile target tracking, can be implemented by controlling from one to all the degrees of freedom of the system. Whatever the sensor configuration, which can vary from one on‐board camera on the robot end‐effector to several free‐standing cameras, a set of visual features has to be selected at best from the image measurements available, allowing to control the degrees of freedom desired. A control law has also to be designed so that these visual features reach a desired value, defining a correct realization of the task.With a vision sensor providing 2D measurements, potential visual features are numerous, since as well 2D data (coordinates of feature points in the image, moments, …) as 3D data provided by a localization algorithm exploiting the extracted 2D measurements can be considered. It is also possible to combine 2D and 3D visual features to take the advantages of each approach while avoiding their respective drawbacks. From the selected visual features, the behavior of the system will have particular properties as for stability, robustness with respect to noise or to calibration errors, robot 3D trajectory, etc.The talk will present the main basic aspects of visual servoing, as well as technical advances obtained recently in the field inside the Lagadic group at INRIA/INRISA Rennes. Several application results will be also described." @default.
- W2138561222 created "2016-06-24" @default.
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- W2138561222 date "2008-01-01" @default.
- W2138561222 modified "2023-09-25" @default.
- W2138561222 title "Recent results in visual servoing" @default.
- W2138561222 doi "https://doi.org/10.1063/1.2953050" @default.
- W2138561222 hasPublicationYear "2008" @default.
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