[hal-00639682, v1] Multi-sensor data fusion in sensor-based control: application to multi-camera visual servoing
نویسندگان
چکیده
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.
منابع مشابه
Multi-Focus Image Fusion in DCT Domain using Variance and Energy of Laplacian and Correlation Coefficient for Visual Sensor Networks
The purpose of multi-focus image fusion is gathering the essential information and the focused parts from the input multi-focus images into a single image. These multi-focus images are captured with different depths of focus of cameras. A lot of multi-focus image fusion techniques have been introduced using considering the focus measurement in the spatial domain. However, the multi-focus image ...
متن کاملA New Fault Tolerant Nonlinear Model Predictive Controller Incorporating an UKF-Based Centralized Measurement Fusion Scheme
A new Fault Tolerant Controller (FTC) has been presented in this research by integrating a Fault Detection and Diagnosis (FDD) mechanism in a nonlinear model predictive controller framework. The proposed FDD utilizes a Multi-Sensor Data Fusion (MSDF) methodology to enhance its reliability and estimation accuracy. An augmented state-vector model is developed to incorporate the occurred senso...
متن کاملThe Resolvability Ellipsoid for Sensor Based Manipulation
This paper presents a new sensor placement measure called resolvability. This measure provides a technique for estimating the relative ability of various sensor systems, including single camera systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The measure also indicates the capability of a visual sensor to provide spat...
متن کاملCalibration of Parallel Multi-View Cameras
This paper focuses on the calibration problem of a multi-view shooting system designed for the production of 3D content for auto-stereoscopic visualization. The considered multiview camera is characterized by coplanar and decentered image sensors regarding to the corresponding optical axis. Based on the Faugéras and Toscani’s calibration approach, a calibration method is herein proposed for the...
متن کاملThe resolvability ellipsoid for visual servoing
This paper introduces a sensor placement measure called resolvability. The measure provides a technique for estimating the relative ability of various visual sensors, including monocular systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The resolvability ellipsoid illustrates the directional nature of resolvability, an...
متن کامل