Statistically robust 2D visual servoing

Andrew Comport (1) , E. Marchand (1) , François Chaumette (1)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality

A fundamental step towards broadening the use of real world image-based visual servoing is to deal with the important issue of reliability and robustness. In order to address this issue, a closed loop control law is proposed that simultaneously accomplishes a visual servoing task and is robust to a general class of image processing errors. This is achieved with the application of widely accepted statistical techniques such as robust M-estimation and LMedS. Experimental results are presented which demonstrate visual servoing tasks that resist severe outlier contamination.

Domaines: Robotique [cs.RO]

Andrew Comport, E. Marchand, François Chaumette. Statistically robust 2D visual servoing. IEEE Transactions on Robotics, 2006, 22 (2), pp.415-421. ⟨inria-00350284⟩