Robotic contour following based on visual servoing

E.C. Maniere, P. Couvignou, and Pradeep Khosla
Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), July, 1993, pp. 716 - 722.


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Abstract
Presents a coherent approach for visual servoing tasks that consists of following the contours of unknown objects using a hand-eye robotic system. The motion of the contour relative to the camera sensor is estimated in real-time by processing the measured optical flow of a set of relevant feature points. The desired motion of the end-effector is then computed to minimize the displacements of the feature points with respect to a reference configuration in the image. Control schemes are used in order to stabilize the robot and enhance tracking performances. The authors illustrate the approach by experimental results acquired with a real-time environment, where their CMU-Direct-Drive Arm II follows the boundaries of motionless objects positioned in a plane parallel to the image plane. Three degrees of freedom of planar motions are thus servoed to perform the contour-following task.

Notes

Text Reference
E.C. Maniere, P. Couvignou, and Pradeep Khosla, "Robotic contour following based on visual servoing," Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93), July, 1993, pp. 716 - 722.

BibTeX Reference
@inproceedings{Khosla_1993_3557,
   author = "E.C. Maniere and P. Couvignou and Pradeep Khosla",
   title = "Robotic contour following based on visual servoing",
   booktitle = "Proceedings of the 1993 IEIEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)",
   pages = "716 - 722",
   month = "July",
   year = "1993",
   volume = "2",
}