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Proceedings Paper

Visual servoing based on ellipse features
Author(s): Patrick Rives; H. Michel
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Paper Abstract

The work presented here focuses on the problem of positioning a mechanical structure with respect to a deep underwater bore-hole by using a visual servoing approach. First, we briefly recall a paradigm we have been using as a theoretical framework for implementing visual servoing tasks. Then, we apply this general formalism to our particular case where the visual features are two ellipses perceived in the image which correspond to the projection of two circles bounding the bore-hole in the scene. The last part is devoted to implementation aspects. We show some results which have been obtained both in simulation and on our testbed consisting of a 6 degrees-of-freedom arm with a camera mounted on its end effector. Among implementation aspects, the control loop sampling rate is the most crucial issue. In a vision- based control approach, we have to deal with strong real-time constraints in terms of image processing in order to ensure performances and stability of the closed loop control scheme. To solve this problem, we have designed a new parallel machine vision architecture fully adapted to vision-based control approaches and able to achieve real-time video rate performances for the servoing loop.

Paper Details

Date Published: 6 August 1993
PDF: 12 pages
Proc. SPIE 2056, Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods, (6 August 1993); doi: 10.1117/12.150213
Show Author Affiliations
Patrick Rives, INRIA/Sophia Antipolis (France)
H. Michel, INRIA/Sophia Antipolis (France)

Published in SPIE Proceedings Vol. 2056:
Intelligent Robots and Computer Vision XII: Active Vision and 3D Methods
David P. Casasent, Editor(s)

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