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Conference Papers Year : 2022

Direct visual servoing in the non-linear scale space of camera pose

Abstract

This paper proposes to consider direct visual ser- voing (DVS) for object manipulation by a robot arm. The convergence domain limits of DVS are overcome by introducing the non-linear scale space related to camera pose. Its use in a new, yet little complex, direct cost can enlarge twice the convergence domain of one state-of-the-art DVS, as many experiments of symmetric object orientation control assess.
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Dates and versions

hal-03636579 , version 1 (25-08-2022)

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Guillaume Caron, Yusuke Yoshiyasu. Direct visual servoing in the non-linear scale space of camera pose. 26th International Conference on Pattern Recognition, Aug 2022, Montréal, Canada. pp.4154-4160, ⟨10.1109/ICPR56361.2022.9956615⟩. ⟨hal-03636579⟩
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