Conference Paper

Plane-to-plane positioning from image-based visual servoing and structured light

Institut d'lnformatica i Aplicacions, Girona Univ., Spain
DOI: 10.1109/IROS.2004.1389484 Conference: Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on, Volume: 1
Source: OAI

ABSTRACT In this paper we face the problem of positioning a camera attached to the end-effector of a robotic manipulator so that it gets parallel to a planar object. Such problem has been treated for a long time in visual servoing. Our approach is based on linking to the camera several laser pointers so that its configuration is aimed to produce a suitable set of visual features. The aim of using structured light is not only for easing the image processing and to allow low-textured objects to be treated, but also for producing a control scheme with nice properties like decoupling, stability, well conditioning and good camera trajectory.

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