Hybrid vision-based robot control robust to large calibration errors on both intrinsic and extrinsic camera parameters - Archive ouverte HAL
Communication Dans Un Congrès Année : 2001

Hybrid vision-based robot control robust to large calibration errors on both intrinsic and extrinsic camera parameters

Résumé

This paper concerns the control of a camera, mounted on the end-effector of a robot manipulator, using a hybrid visual servoing scheme. Hybrid vision-based control consists in using information available directly at the image level jointly with the information reconstructed from two views of a rigid object (i.e. the displacement of the camera). The aim of this paper is to design a simple control law and to provide sufficient conditions for its global asymptotic stability. The control law is proved to be robust to a large amount of calibration errors. Contrarily to previous work, we suppose that calibration errors concern both intrinsic and extrinsic camera parameters.
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hal-04655000 , version 1 (20-07-2024)

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Ezio Malis. Hybrid vision-based robot control robust to large calibration errors on both intrinsic and extrinsic camera parameters. 2001 European Control Conference (ECC), Sep 2001, Porto, Portugal. pp.2898-2903, ⟨10.23919/ECC.2001.7076373⟩. ⟨hal-04655000⟩

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