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

被引：0

作者：

Kermorgant, Olivier ^{[1
]}

Chaumette, Francois ^{[1
]}

机构：

[1] INRIA Rennes Bretagne Atlantique, Rennes, France

来源：

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年

关键词：

sensor fusion; multi-sensor; visual servoing; multi-camera;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页数：6

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