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

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 velocitycontrolled 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/eyeto- 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.

关键词： sensor fusion multi-sensor visual servoing multi-camera

作者: Olivier Kermorgant Fran(c)ois Chaumette

作者单位: INRIA Rennes-Bretagne Atlantique,Campus de Beaulieu,Rennes,France

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4518-4523

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）