ICRA 2011 Paper Abstract


Paper ThA104.1

Kermorgant, Olivier (INRIA Rennes-Bretagne Atlantique), Chaumette, Francois (INRIA Rennes-Bretagne Atlantique)

Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing

Scheduled for presentation during the Regular Sessions "Sensor Fusion I" (ThA104), Thursday, May 12, 2011, 08:20−08:35, Room 3E

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Sensor Fusion, Visual Servoing


A low-level sensor fusion scheme is presented for the positioning of a multi-sensor robot. This non-hierarchical framework can be used for robot arms or other velocity-controlled robots, and is part of the task function approach. A stability analysis is presented for the general case, then several control laws illustrate the versatility of the framework. This approach is applied to the multi-camera eye-in-hand/eye-to-hand configuration in visual servoing. Experimental results point out the feasibility and the effectiveness of the proposed control laws. Mono-camera and multi-camera schemes are compared, showing that the proposed sensor fusion scheme improves the behavior of a robot arm.



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