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1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE 2 ISIR - Institut des Systèmes Intelligents et de Robotique

Abstract : — Direct photometric visual servoing uses only the pure image information as a visual feature, instead of using classic geometric features such as points or lines. It was demonstrated efficiently in 6 degrees of freedom DoF positioning. However, in micro-scale, using only image intensity as a visual feature performs unsatisfactorily in cases where the photometric variation is low, such as motions along vision sensor-s focal axis under a high magnification. In order to improve the performance and accuracy in those cases, an approach using hybrid visual features is proposed in this paper. Image gradient is employed as a visual feature on z axis while image intensity is used on the other 5 DoFs to control the motion. A 6-DoF micro-positioning task is accomplished by this hybrid visual servoing scheme. The experimental results obtained on a parallel positioning micro-stage under a digital microscope show the robustness and efficiency of the proposed method.





Autor: Le Cui - Eric Marchand - Sinan Haliyo - Stéphane Régnier -

Fuente: https://hal.archives-ouvertes.fr/



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