G. Flandin, F. Chaumette, E. Marchand. Eye-in-hand / eye-to-hand cooperation for visual servoing. In IEEE Int. Conf. on Robotics and Automation, Volume 3, Pages 2741-2746, San Francisco, April 2000.
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The use of a camera in a robot control loop can be performed with two types of architecture: the camera is said eye-in-hand when rigidly mounted on the robot end-effector and it is said eye-to-hand when it observes the robot within its work space. These two schemes have technical differences and they can play very complementary parts. Obviously, the eye-in-hand one has a partial but precise sight of the scene whereas the eye-to-hand camera has a less precise but global sight of it. The motivation of our work is to take advantage of both, free-standing and robot-mounted sensors, in a cooperation scheme. The system we present in this paper performs two separate tasks: a positioning one that is ensured in the global image and a tracking one performed in the local image. For robustness considerations, the control law stability is proved and several cooperative schemes are studied and compared in experimental results
@InProceedings{Flandin00a,
Author = {Flandin, G. and Chaumette, F. and Marchand, E.},
Title = {Eye-in-hand / eye-to-hand cooperation for visual servoing},
BookTitle = {IEEE Int. Conf. on Robotics and Automation},
Volume = {3},
Pages = {2741--2746},
Address = {San Francisco},
Month = {April},
Year = {2000}
}
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