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Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light

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4 Author(s)
Pages, J. ; Davantis Technol., Bellaterra ; Collewet, C. ; Chaumette, F. ; Salvi, J.

This paper considers the problem of positioning an eye-in-hand system so that it becomes parallel to a planar object. Our approach to this problem is based on linking to the camera a structured light emitter designed to produce a suitable set of visual features. The aim of using structured light is not only for simplifying the image processing and allowing low-textured objects to be considered, but also for producing a control scheme with nice properties like decoupling, convergence, and adequate camera trajectory. This paper focuses on an image-based approach that achieves decoupling in all the workspace, and for which the global convergence is ensured in perfect conditions. The behavior of the image-based approach is shown to be partially equivalent to a 3-D visual servoing scheme, but with a better robustness with respect to image noise. Concerning the robustness of the approach against calibration errors, it is demonstrated both analytically and experimentally

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Robotics, IEEE Transactions on  (Volume:22 ,  Issue: 5 )