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Publications of " F. Chaumette "

chaumette02  BIB:chaumette02
  F. Chaumette. "Asservissement visuel". La commande des robots manipulateurs, Hermès, Khalil, W., Traité IC2 : p. 105–150. November 2002.
chaumette04  BIB:chaumette04  DOI:10.1109/TRO.2004.829463
  F. Chaumette. "Image moments: a general and useful set of features for visual servoing". IEEE Transactions on Robotics and Automation, Vol. 20(4) : p. 713–723. August 2004.
chaumette06  BIB:chaumette06  DOI:10.1109/MRA.2006.250573
  F. Chaumette and S. Hutchinson. "Visual Servo Control, Part I: Basic Approaches". IEEE Robotics and Automation Magazine, Vol. 13(4) : p. 82–90. December 2006.
chaumette07  BIB:chaumette07  DOI:10.1109/MRA.2007.339609
  F. Chaumette and S. Hutchinson. "Visual Servo Control, Part II: Advanced Approaches". IEEE Robotics and Automation Magazine, Vol. 14(1) : p. 109–118. March 2007.
chaumette90  BIB:chaumette90
  F. Chaumette. "La relation vision-commande : théorie et application à des tâches robotiques". PhD thesis, Université de Rennes 1, IRISA. July 1990.

Keyword(s): VISUAL SERVOING.

chaumette94  BIB:chaumette94  DOI:10.1109/IEEE Computer Society Conference on Computer Vision and Pattern Recognition .1994.323850
  D. Juvin, F. Chaumette, P. Bouthemy and S. Boukir. "Optimal estimation of 3D structures using visual servoing". IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'94) : p. 347–354. Seattle, Washington. June 1994.

Abstract: This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. We propose a general revisited formulation of the structure-from-motion issue, and we determine adequate camera configurations and motions which lead to a robust and accurate estimation of the 3D structure parameters. We apply the visual servoing approach to perform these camera motions. Real-time experiments dealing with the 3D structure estimation of points and cylinders are reported, and demonstrate that this active vision strategy can very significantly improve the estimation accuracy.

chaumette96  BIB:chaumette96  DOI:10.1109/34.494639
  D. Juvin, F. Chaumette, P. Bouthemy and S. Boukir. "Structure from controlled motion". IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 18(5) : p. 492–504. May 1996.

Abstract: This paper deals with the recovery of 3D information using a single mobile camera in the context of active vision. First, we propose a general revisited formulation of the structure-from-known-motion issue. Within the same formalism, we handle various kinds of 3D geometrical primitives such as points, lines, cylinders, spheres, etc. We also aim at minimizing effects of the different measurement errors which are involved in such a process. More precisely, we mathematically determine optimal camera configurations and motions which lead to a robust and accurate estimation of the 3D structure parameters. We apply the visual servoing approach to perform these camera motions using a control law in closed-loop with respect to visual data. Real-time experiments dealing with 3D structure estimation of points and cylinders are reported. They demonstrate that this active vision strategy can very significantly improve the estimation accuracy

chaumette98a  BIB:chaumette98a
  F. Chaumette. "De la perception à l'action : l'asservissement visuel; de l'action à la perception : la vision active". Habilitation à diriger des recherches, Université de Rennes 1, IRISA. January 1998.
chaumette98b  BIB:chaumette98b
  F. Chaumette. "Potential problems of stability and convergence in image-based and position-based visual servoing". The Confluence of Vision and Control, LNCIS Series, Springer-Verlag, Kriegman, D. and Hager, G. and Morse, A.S., Vol. 237 : p. 66–78. November 1998.
comport04  BIB:comport04  DOI:10.1109/IEEE/RSJ International Conference on Intelligent Robots and Systems .2004.1389433
  A.I. Comport, E. Marchand and F. Chaumette. "Robust model-based tracking for robot vision". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'04), Vol. 1 : p. 692–697. Sendai, Japan. September 2004.
espiau92  BIB:espiau92  DOI:10.1109/70.143350
  B. Espiau, F. Chaumette and P. Rives. "A new approach to visual servoing in robotics". IEEE Transactions on Robotics and Automation, Vol. 8(3) : p. 313–326. June 1992.
malis00  BIB:malis00
  E. Malis and F. Chaumette. "2D1/2 visual servoing with respect to unknown objects through a new estimation scheme of camera displacement". International Journal of Computer Vision, Vol. 37(1) : p. 79–97. June 2000.
malis99  BIB:malis99  DOI:10.1109/70.760345
  E. Malis, F. Chaumette and S. Boudet. "2 1/2d visual servoing". IEEE Transactions on Robotics and Automation, Vol. 15(2) : p. 238–250. April 1999.
mansard04  BIB:mansard04  DOI:10.1109/IEEE/RSJ International Conference on Intelligent Robots and Systems .2004.1389482
  F. Chaumette and N. Mansard. "Tasks sequencing for visual servoing". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'04), Vol. 1 : p. 992–997. Sendai, Japan. September 2004.
mansard05icra  BIB:mansard05icra
  F. Chaumette and N. Mansard. "Visual servoing sequencing able to avoid obstacles". IEEE International Conference on Robotics and Automation (ICRA'05) : p. 3143–3148. Barcelona, Spain. April 2005.
marchand96  BIB:marchand96  DOI:10.1109/IEEE/RSJ International Conference on Intelligent Robots and Systems .1996.568954
  A. Rizzo, E. Marchand and F. Chaumette. "Using the task function approach to avoid robot joint limits and kinematic singularities in visual servoing". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'96) : p. 1083–1090. Osaka, Japan. November 1996. Available at: http://www.irisa.fr/lagadic/publi/publi/Marchand96f-eng.html (last seen Septembre 2007)

Keyword(s): TASK FUNCTION, VISUAL SERVOING.

mezouar02  BIB:mezouar02
  F. Chaumette and Y. Mezouar. "Avoiding self-occlusions and preserving visibility by path planning in the image". Robotics and Autonomous Systems, Vol. 41(2) : p. 77–87. November 2002. Available at: http://www.irisa.fr/lagadic/publi/publi/Mezouar02b-fra.html (last seen Septembre 2007)

Keyword(s): OCCLUSION AVOIDANCE, VISUAL SERVOING.

remazeilles06  BIB:remazeilles06  DOI:10.1109/IEEE/RSJ International Conference on Intelligent Robots and Systems .2006.281960
  A. Remazeilles, F. Chaumette and N. Mansard. "A Qualitative Visual Servoing to ensure the Visibility Constraint". IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) : p. 4297–4303. Beijing, China. October 2006.
robea04  BIB:robea04
  B. Gao, D. Folio, F. Chaumette, J. Y. Fourquet, M. Ta\:\ix, N. Mansard, P. Barone, P. Chiron, P. Danès, P. Soueres, S. Argentieri, S. Celebrini, V. Cadenat, V. Padois and Y. Trotter. Actes pour ROBEA:"Enchaînement de tâches pour l'exécution de mouvement complexe en robotique mobile : premier rapport d'avancement du projet Robea EGOCENTRE". ROBEAToulouse, France. January 2004.
robea05  BIB:robea05
  B. Gao, D. Folio, F. Chaumette, J. Y. Fourquet, M. Ta\:\ix, N. Mansard, P. Barone, P. Chiron, P. Danès, P. Soueres, S. Argentieri, S. Celebrini, V. Cadenat, V. Padois and Y. Trotter. Actes pour ROBEA:"Enchaînement de tâches pour l'exécution de mouvement complexe en robotique mobile : second rapport d'avancement du projet Robea EGOCENTRE". ROBEAMontpellier, France. March 2005.
robea06  BIB:robea06
  B. Gao, D. Folio, F. Chaumette, J. Y. Fourquet, M. Ta\:\ix, N. Mansard, P. Barone, P. Chiron, P. Danès, P. Soueres, S. Argentieri, S. Celebrini, V. Cadenat, V. Padois and Y. Trotter. Actes pour ROBEA:"Enchaînement de tâches pour l'exécution de mouvement complexe en robotique mobile : troisième rapport d'avancement du projet". ROBEAParis, France. April 2006.
tahri05  BIB:tahri05  DOI:10.1109/TRO.2005.853500
  F. Chaumette and O. Tahri. "Point-based and Region-based Image Moments for Visual Servoing of Planar Objects". IEEE Transactions on Robotics and Automation, Vol. 21(6) : p. 1116–1127. December 2005.

Abstract: Moments are generic (and usually intuitive) descriptors that can be computed from several kinds of objects, defined either from closed contours or from a set of points. In this paper, we present improvements in image-based visual servo using image moments. First, the analytical form of the interaction matrix related to the moments computed from a set of coplanar points is derived, and we show that it is different from the form obtained previously, using coplanar closed contours. Six visual features are selected to design a decoupled control scheme when the object is parallel to the image plane. This nice property is then generalized to the case where the desired object position is not parallel to the image plane. Finally, experimental results are presented to illustrate the validity of our approach and its robustness, with respect to modeling errors.



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