By Topic

Positioning a camera with respect to planar objects of unknown shape by coupling 2-D visual servoing and 3-D estimations

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Collewet, C. ; Cemagref Rennes, France ; Chaumette, F.

This paper proposes a way to achieve positioning tasks by 2-D visual servoing when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless, but no knowledge about its shape or pose is required. First, we treat the case of a threadlike object, and then we show how our approach can be generalized to an object with three particular points. The control law is based on the use of 2-D visual servoing, and on an estimation of two 3-D parameters. We show that this control scheme is not sensitive to the calibration of the camera. We conclude this paper by experimental results relative to objects of unknown shape. In addition, an algorithm to estimate the depth between the object and the camera is provided, which finally leads to a 3-D estimation of the object shape

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:18 ,  Issue: 3 )