a) Description
The aim of this video is to show accurate visual servoing tasks when the shape of the object being observed as well as the final image are unknown. More precisely, we want to control the orientation of the tangent plane at a certain point on the object corresponding to the center of a region of interest and to move this point to the principal point to fulfill a fixation task. To do that, we perform a 3D reconstruction phase during the servoing. It is based on the measurement of the 2D displacement in the region of interest and on the measurement of the  camera velocity. Since the 2D displacement depends on the scene, we introduce an unified motion model to deal with planar as well with non-planar objects.  Unfortunately, this model is only an approximation. Instead of using active vision to enlarge its domain of validity (see our other paper in ICRA'07) and a 3D reconstruction based on a continuous approach. We propose to use robust estimation techniques and a 3D reconstruction based on discrete approach. Experimental (on a 6 dof robot with an eye-in-hand CCD camera) results compare both approaches. 
 
b) Player information
This video is a mpeg1 file. It can be read with QuickTime, RealPlayer, Microsoft Windows Media Player, Mplayer, Xine Media Player, ...

c) Contact information
Christophe Collewet, IRISA/INRIA, Campus de Beaulieu, 35042 Rennes, France, christophe.collewet@irisa.fr


Attachment filename: 0258_VI.mpg (4710404 Bytes)