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Visual Servoing from Lines

Nicolas Andreff, Bernard Espiau, Radu Horaud
2002 The international journal of robotics research  
This concept is more relevant than usual image alagnment to position a single calibrated camera with respect to a set of known 3~ lines.  ...  In this paper, we use an alternative formulation of the Euclidean Plucker coordinates t o define the new of normalized Plucker coordinates alignment of lines.  ...  Marchand from IRISA, Rennes (France) for providing us with his line tracking programs.  ... 
doi:10.1177/027836402761412430 fatcat:yse3bc5igradhpqsub7j4xzf6u

Visual Servoing from Lines

Nicolas Andreff, Bernard Espiau, Radu Horaud
2002 The international journal of robotics research  
This concept is more relevant than usual image alagnment to position a single calibrated camera with respect to a set of known 3~ lines.  ...  In this paper, we use an alternative formulation of the Euclidean Plucker coordinates t o define the new of normalized Plucker coordinates alignment of lines.  ...  Marchand from IRISA, Rennes (France) for providing us with his line tracking programs.  ... 
doi:10.1177/027836402128964585 fatcat:jxqup2pqinedhklahtwsjssdhi

Catadioptric Visual Servoing From 3-D Straight Lines

H. Hadj-Abdelkader, Y. Mezouar, P. Martinet, F. Chaumette
2008 IEEE Transactions on robotics  
Downloaded on October 9, 2008 at 04:49 from IEEE Xplore. Restrictions apply.  ...  Marchand from the Institut de Recherche en Informatique et Systemes Aleatoires (IRISA)/Institut National de Recherche en Informaitique et systemes Aleatoires (INRIA), Rennes, France, who provided them  ...  The proposed visual servoing strategy shares thus the same singularity problems as conventional image-based visual servoing with lines.  ... 
doi:10.1109/tro.2008.919288 fatcat:anj24f3ryzftvp3v6kg7m56ho4

Visual servoing from lines using a planar catadioptric system

Eric Marchand, Benjamin Fasquelle
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
In this paper, we propose a complete scheme to control a mirror, using a visual servoing scheme, using lines as a set of visual features.  ...  Considering the equations of the projection of the reflection of a lines on a mirror, this paper introduces the theoretical background that allows to control the mirror using visual information.  ...  Servo on one line This first experiments depicts a basic visual servoing task on a line.  ... 
doi:10.1109/iros.2017.8206127 dblp:conf/iros/MarchandF17 fatcat:jh2ohuibubatvk2fk3rgnphbqu

Visual servoing from lines

N. Andreff, B. Espiau, R. Horaud
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
This concept is more relevant than usual image alagnment to position a single calibrated camera with respect to a set of known 3~ lines.  ...  In this paper, we use an alternative formulation of the Euclidean Plucker coordinates t o define the new of normalized Plucker coordinates alignment of lines.  ...  Marchand from IRISA, Rennes (France) for providing us with his line tracking programs.  ... 
doi:10.1109/robot.2000.846334 dblp:conf/icra/AndreffEH00 fatcat:ifgduhmvzvef7fz4zb4cl7kmoq

Central catadioptric visual servoing from 3D straight lines

Y. Mezouar, H.H. Abdelkader, P. Martinet, F. Chaumette
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)  
Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional  ...  First a generic central catadioptric interaction matrix for the projection of 3D straight lines is derived from the projection model of an entire class of camera.  ...  Line following Catadioptric image-based visual servoing from lines can be used to achieve trajectory following with a mobile robot.  ... 
doi:10.1109/iros.2004.1389375 dblp:conf/iros/MezouarHMC04 fatcat:pph4b6voxnfijdc3d2dbumsqki

ViSP for visual servoing: a generic software platform with a wide class of robot control skills

E. Marchand, F. Spindler, F. Chaumette
2005 IEEE robotics & automation magazine  
Keywords Visual servoing, tracking, C++ library, fast prototyping, simulation.  ...  It features the image acquisition (Line 43) and the current visual features computation from the result of the dots tracking (Lines 46 and 47). The task is then automatically updated.  ...  features: 2-D points, 2-D straight lines, 2-D ellipses ◆ 3-D visual features: 3-D points, 3-D straight lines, θu Figure 1 . 1 Increasingly difficult examples of feature tracking in visual servoing experiments  ... 
doi:10.1109/mra.2005.1577023 fatcat:5udg43crvfhmlhdqwa4rb4u44i

Evolving Inverse Fuzzy Models for Uncalibrated Visual Servoing in 3D Workspace

Paulo Goncalves, João Sousa, João Caldas Pinto
2009 European Society for Fuzzy Logic and Technology  
off-line learning.  ...  The uncalibrated approach does not require calibrated kinematic and camera models, as needed in classical visual servoing to obtain the Jacobian.  ...  Classical Visual Servoing Within the visual servoing framework, there are three main categories related with the information obtained from the image features: • image-based visual servoing [1, 6] , which  ... 
dblp:conf/eusflat/GoncalvesSP09 fatcat:psp6rivdwvdx5lhzunaijpjjku

Corridor following wheelchair by visual servoing

Francois Pasteau, Marie Babel, Rafiq Sekkal
2013 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems  
The servoing process matches the non holonomous constraints of the wheelchair and relies on two visual features, namely the vanishing point location and the orientation of the median line formed by the  ...  In this paper, we present an autonomous navigation framework of a wheelchair by means of a single camera and visual servoing.  ...  The authors would like to thank Daniel Guillard and Luc Le Pape from Ergovie and Eric Bazin from INSA.  ... 
doi:10.1109/iros.2013.6696411 dblp:conf/iros/PasteauBS13 fatcat:gkmojemi6rahhetfaqieu6jugu

Robotic manipulation using high bandwidth force and vision feedback

B.J. Nelson, J.D. Morrow, P.K. Khosla
1996 Mathematical and computer modelling  
A discussion of the types of tasks that beneJit from the strategies is included, as well as experimental results which show that the use of visual servoing to stably guide a manipulator simplij5e.s the  ...  Force controlled manipulation is a common technique for compliantly contacting and manipulating uncertain environments. visual servoing is an eflective technique for guiding imprecisely calibrated manipulators  ...  The solid lines represent overall commanded velocity, the dashed lines represent .commanded velocity from visual servoing, and the dasheddotted lines represent commanded velocity from force servoing.  ... 
doi:10.1016/0895-7177(96)00113-6 fatcat:7ijc5mlhgnek3odoaekwynyrva

Event-based Visual Servoing
english

Gabriel J. García, Jorge Pomares, Fernando Torres Medina, Pablo Gil
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
Traditional visual servoing systems have been widely studied in the last years.  ...  Events can be used in the future to change different parameters of the visual servoing systems.  ...  ACKNOWLEDGEMENTS The research leading to these results has received funding from the Spanish Ministry of Education and Science and European FEDER funds, the Valencia Regional Government and the Research  ... 
doi:10.5220/0004481803070314 dblp:conf/icinco/GarciaPTG13 fatcat:vyivjlcmynctda6viccrmd5ngq

Image based visual servoing using algebraic curves applied to shape alignment

Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual servoing.  ...  Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation.  ...  However obtaining features from these curves for visual servoing algorithms is not a trivial task.  ... 
doi:10.1109/iros.2009.5354310 dblp:conf/iros/YaziciogluCU09 fatcat:c4ql3bq57zah5igewjre6225eu

The on-Line Teaching of Robot Visual Servoing

Carlos Perez-Vidal, Nicolas Garcia, Enric Cervera, Luis Gracia, Jose Maria Sabater
2011 International Journal of Electrical Engineering Education  
Visual servoing uses the visual information provided by cameras to control the movement of a robotic system.  ...  This paper presents an international on-line course aimed at BSc, MSc and PhD students in this subject.  ...  Acknowledgements The authors would like to thank Peter Corke for allowing us to use part of his code from the Robotics Toolbox.  ... 
doi:10.7227/ijeee.48.2.7 fatcat:n74jkwhlx5e7thil7mx6cobxtm

A machine learning-based visual servoing approach for fast robot control in industrial setting

Francesco Castelli, Stefano Michieletto, Stefano Ghidoni, Enrico Pagello
2017 International Journal of Advanced Robotic Systems  
Keywords Visual learning, visual servoing, learning and adaptive systems, computer vision, robot programming by demonstration, Gaussian mixture model, visual control of robotic systems, sensor-based control  ...  Experimental results demonstrate that the proposed method is able to reproduce the visual servoing function with a minimal error while guaranteeing extremely high working frequency.  ...  (c) Clusters of lines (red, blue) and the final selected lines (green). (d) ViSP moving edge tracker result. ViSP: visual servoing platform.  ... 
doi:10.1177/1729881417738884 fatcat:cqztx7c7rzbx5fvp3zdglwlxu4

Guidance of Robot Arms using Depth Data from RGB-D Camera
english

Gabriel J. García, Pablo Gil, D. Llácer, Fernando Torres Medina
2013 Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics  
Image Based Visual Servoing (IBVS) is a robotic control scheme based on vision.  ...  The visual servoing system has been developed over ROS (Robot Operating System), which is a meta-operating system for robots.  ...  ACKNOWLEDGEMENTS The research leading to these results has received funding from the Spanish Ministry of Education and Science and European FEDER funds, the Valencia Regional Government and the Research  ... 
doi:10.5220/0004481903150321 dblp:conf/icinco/GarciaGLT13 fatcat:osev4i77pza2hjbm4zjzlyk5za
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