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Communication Dans Un Congrès Année : 2024

Multi-Spectral Visual Servoing

Résumé

This paper presents a novel approach for Visual Servoing (VS) using a multispectral camera, where the number of data are more than three times that of a standard color camera. To meet real-time feasibility, the multispectral data captured by the camera are processed using dimensionality reduction techniques. Instead of relying on traditional approaches that select a subset of bands, the proposed method unlocks the full potential of a multispectral camera by pinpointing individual pixels that hold the richest information across all bands. While sacrificing spectral resolution for enhanced spatial resolution -crucial for precise robotic control in forested environments -this fusion process offers a powerful tool for robust and real-time VS in natural settings. Validated through simulations and real-world experiments, the proposed approach demonstrates its efficacy by leveraging the full spectral information of the camera while preserving spatial details.
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Dates et versions

hal-04680374 , version 1 (28-08-2024)

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  • HAL Id : hal-04680374 , version 1

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Enrico Fiasché, Ezio Malis, Philippe Martinet. Multi-Spectral Visual Servoing. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04680374⟩
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