What metric stereo can do for visual servoing

This paper describes a number of geometric tools that can be easily implemented in order to obtain a very robust visual servoing platform. Most often, visual servoing algorithms are either based on calibrated systems or dispose of enough information to self-calibrate. We show that this abundance of information can be exploited in the case of stereo servoing as to offer a solution for some problems related to signal loss such as temporary occlusions, specularities or CAD tracking difficulties. The presented servoing algorithm, can cope with large image perturbations and is able to control a robot through a non modeled set of reference points.

[1]  Fumio Miyazaki,et al.  Manipulator Control by Visual Ser-voing with the Stereo Vision , 1993 .

[2]  Gregory D. Hager,et al.  Feature-based visual servoing and its application to telerobotics , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[3]  Radu Horaud,et al.  A projective framework for scene segmentation in the presence of moving objects , 1999, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149).

[4]  Gregory D. Hager,et al.  Robot hand-eye coordination based on stereo vision , 1995 .

[5]  Gregory D. Hager,et al.  Feature-based visual servoing and its application to telerobotics , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[6]  Xinhua Zhuang,et al.  Pose estimation from corresponding point data , 1989, IEEE Trans. Syst. Man Cybern..

[7]  S. P. Mudur,et al.  Three-dimensional computer vision: a geometric viewpoint , 1993 .

[8]  Fadi Dornaika,et al.  Visually guided object grasping , 1998, IEEE Trans. Robotics Autom..

[9]  M. Hebert,et al.  The Representation, Recognition, and Locating of 3-D Objects , 1986 .

[10]  Steven D. Blostein,et al.  MOTION ESTIMATION FROM 3-D POINT SETS WITH AND WITHOUT CORRESPONDENCES. , 1986 .

[11]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[12]  Radu Horaud,et al.  Visual control using projective kinematics , 1999 .

[13]  Roger Y. Tsai,et al.  Real time versatile robotics hand/eye calibration using 3D machine vision , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[14]  Patrick Rives,et al.  A new approach to visual servoing in robotics , 1992, IEEE Trans. Robotics Autom..

[15]  Fadi Dornaika,et al.  Object Pose: The Link between Weak Perspective, Paraperspective, and Full Perspective , 1997, International Journal of Computer Vision.

[16]  François Chaumette,et al.  Potential problems of stability and convergence in image-based and position-based visual servoing , 1997 .

[17]  Radu Horaud,et al.  Controlling robots with two cameras: how to do it properly , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).