Visual Servoing by Means of Structured Light: Visual-based Robot Task Optimisation from Controlled Light Pattern Projection - Softcover

Visual Servoing by Means of Structured Light : Visual-based Robot Task Optimisation from Controlled Light Pattern Projection

Taschenbuch. Zustand: Neu. Neuware - Visual servoing is a popular technique for performingrobotic tasks like relative positioning or targettracking.Classic visual servoing assumes that visual featurescan be extracted from camera images of the targetobject or scene.However, what happens when the target object isuniform Can a robot position itself with respect toa white wall or avoiding a non-textured object usingjust visual feedback What happens when the scenariois complex or a priori unknown like a region of thesea floor In cases like these, visual servoingassumptions fail. This book studies the use ofstructured light to provide visual features. Arigorous comparison of the most relevant structuredlight patterns is provided. Then, structured light isintegrated to a visual servoing framework. This bookshows that a suitable design of the structured lightpattern is able to provide robust and unambiguousvisual features. Furthermore, the control law can beoptimised in order to obtain nice properties likedecoupling and robustness against image noise andcalibration errors. Artikel-Nr. 9783836490191

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