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Optimizing plane-to-plane positioning tasks by image-based visual servoing and structured light
IEEE Transactions on robotics
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, anddoi:10.1109/tro.2006.878785 fatcat:npqdj6p4kbbotawag34z3jbaxq