Positioning a camera with respect to planar objects of unknown shape by coupling 2-D visual servoing and 3-D estimations

Visual servoing based on dynamic vision

This paper deals with the way to achieve positioning tasks by visual servoing in the case of planar and motionless objects whose shape is unknown. In fact, we consider here complex objects like those one can encount in the agrifood industry. A 3D reconstruction phase is first considered yielding to the parameters of the plane. This computation is based on the measurement of the 2D velocity in a...

Image Based Visual Servoing on Planar Objects of unknown Shape

This paper proposes a way to achieve positioning tasks by visual servoing, for any orientation of the camera, when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless but no knowledge about its shape or pose is required. To simplify the problem, first, we treat the case of a threadlike object and then we show how our approach...

2 1/2 D Visual Servoing with Respect to Unknown Objects through a New Estimation Scheme of Camera Displacement

Vision-based control with respect to planar and non-planar objects using a zooming camera

This paper concerns the visual servoing with a zooming camera. It presents a new visual servoing approach which allows to position a camera, equipped with a motorized zoom lens, with respect to an object independently if the object is planar or not. Indeed, planar objects are singular cases which cannot be handled by previous intrinsics-free visual servoing. The proposed method makes it possibl...

Visual servoing with respect to complex objects

This paper presents new advances in the field of visual servoing. More precisely, we consider the case where complex objects are observed by a camera. In a first part, planar objects of unknown shape are considered using image moments as input of the image-based control law. In the second part, a pose estimation and tracking algorithm is described to deal with real objects whose 3D model is kno...