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multiple scale visual servoing

Robotic Micromanipulation and Microassembly using Mono-view and Multi-scale visual servoing.

Robotic Micromanipulation and Microassembly using Mono-view and Multi-scale visual servoing.

... Index Terms—Microassembly, micromanipulation, micro- robotic, multiple scale visual servoing, depth-from-focus. I. I NTRODUCTION T HE development of micro electromechanical systems (MEMS) as ...

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Improvements in robust 2D visual servoing

Improvements in robust 2D visual servoing

... Fig. 1. (a) Traditional outlier rejection (b) New proposed control law (see Section II-B for details) because they give a solid statistical basis for detailed analysis and have even been considered to be a unifying ...

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Entropy-based visual servoing

Entropy-based visual servoing

... same scale. During the servoing task the aerial images were consid- ...the visual servoing considering multimodal capabilities is shown on Figure ...

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Catadioptric visual servoing from 3D straight lines

Catadioptric visual servoing from 3D straight lines

... separate visual servoing tasks for each ...unknown scale parameter, which naturally appears when extracting the translational part of the homography ...catadioptric visual servoing and ...

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Statistically robust 2D visual servoing

Statistically robust 2D visual servoing

... auxiliary scale estimate due to the median’s lack of asymptotic properties ...the scale exist that reject a higher percentage of outliers than the MAD or simple median (see for example [14] or [15] when ...

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Feature tracking for visual servoing purposes

Feature tracking for visual servoing purposes

... 3 Model-Based Tracking: Robust virtual visual servoing In this section, we now consider that the 3D CAD model of the tracked object is available. We focus on the registration techniques that allow ...

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Going further with direct visual servoing

Going further with direct visual servoing

... 5.4 G OING FURTHER : T OWARD SCENE - AGNOSTIC CNN- BASED V ISUAL S ERVOING Network architecture In order to be able to fine-tune an existing network, one has to keep the shape of the inputs identical in order to ...

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Features tracking for visual servoing purpose

Features tracking for visual servoing purpose

... to visual servoing and more generally for robot ...of visual cue is indeed one of the keys to success, or to failure, of a visual servoing ...consider visual servoing ...

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Visual Servoing

Visual Servoing

... common scale factor ...hybrid visual servoing schemes described in ...hybrid visual servoing schemes in the presence of calibration errors ...

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Photometric visual servoing for omnidirectional cameras

Photometric visual servoing for omnidirectional cameras

... Of course, approximations made, from the use of current interaction with known depth image to the use of the desired interaction matrix with a constant depth, tend to decrease the error evolution quality (the “most ...

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Grasping by Romeo with visual servoing

Grasping by Romeo with visual servoing

... Figure 1: Romeo grasping a box and delivering it to a human. References [1] D.J. Agravante, J. Pages, F. Chaumette, “Visual servoing for the REEM humanoid robot’s upper body”, IEEE Int. Conf. on Robotics ...

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Particle Filter-based Direct Visual Servoing

Particle Filter-based Direct Visual Servoing

... SSD-based visual servoing (at this starting position, the cost function is non-convex and highly non-linear and therefore cannot be optimized properly with Gauss-Newton related methods that rely on such ...

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Direct visual servoing based on multiple intensity histograms

Direct visual servoing based on multiple intensity histograms

... Recently, to avoid this tracking and matching process, direct approaches have been proposed [4], where the feature matching and extraction step has been removed. Within this method, the control is built by minimizing the ...

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Corridor following wheelchair by visual servoing

Corridor following wheelchair by visual servoing

... literature, visual servoing approaches are classically classified into two categories, namely Pose-Based Visual Servoing (PBVS) and Image-Base Visual Servoing (IBVS) ...

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Improving mutual information based visual servoing

Improving mutual information based visual servoing

... information-based visual servoing Amaury Dame, Eric Marchand Abstract— In a previous paper [3], we proposed a new way to achieve visual ...on visual servoing ...

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Image moments-based ultrasound visual servoing

Image moments-based ultrasound visual servoing

... works, visual servoing was performed thanks to a simple model of the probe interaction that does not require any 3D information for in-plane ...the visual task consists also in controlling the ...

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Visual servoing via Nonlinear Predictive control

Visual servoing via Nonlinear Predictive control

... reaches a desired static reference or follows a desired dynamic reference. Although IBVS approach is robust to modeling errors, several drawbacks can be mentioned when the visual features are not correctly ...

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Visual Servoing-based Registration of Multimodal Images

Visual Servoing-based Registration of Multimodal Images

... 5.2 Visual Servoing Results It is not yet possible to test our developments di- rectly on true vocal folds using the developed flexible laryngoscope by current lack of a technical solution for fiber-based ...

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Visual servoing set free from image processing

Visual servoing set free from image processing

... as visual features in visual ...that visual servoing has been handled without any image processing (except the image spatial gradient required for the computation of the interaction matrix) ...

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Visual Servoing-based Registration of Multimodal Images.

Visual Servoing-based Registration of Multimodal Images.

... 5.2 Visual Servoing Results It is not yet possible to test our developments di- rectly on true vocal folds using the developed flexible laryngoscope by current lack of a technical solution for fiber-based ...

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