Controlling Robots with Two Cameras: How to Do it ProperlyReport as inadecuate

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1 MOVI - Modeling, localization, recognition and interpretation in computer vision GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71 2 BIP - Biped Robot Inria Grenoble - Rhône-Alpes

Abstract : In this paper we address visual servoing through a fixed stereo rig using an image Jacobian. Existing methods are based on the stacking of monocular servo image Jacobians, resulting in largely over­constrained control commands. In this paper we formally show that the epipolar constraint between two images can be taken into account explicitly. We then show that use of stereo significantly increases the quality of the servo task execution, especially where precision, ro­ bustness and smoothness of movement is concerned.

Author: Bart Lamiroy - Bernard Espiau - Nicolas Andreff - Radu Horaud -



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