期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 30, 期 5, 页码 1242-1249出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2014.2325991
关键词
Dense sensor-based control; depth map; visual servoing
类别
资金
- ReV-TV FUI
This paper presents a novel 3-D servoing approach using dense depth maps to perform robotic tasks. With respect to position-based approaches, our method does not require the estimation of the 3-D pose (direct), nor the extraction and matching of 3-D features (dense), and only requires dense depth maps provided by 3-D sensors. Our approach has been validated in various servoing experiments using the depth information from a low-cost Red Green Blue-Depth (RGB-D) sensor. Positioning tasks are properly achieved despite noisy measurements, even when partial occlusions or scene modifications occur. We also show that, in cases where a reference depth map cannot be easily available, synthetic ones generated with a rendering engine still lead to satisfactory positioning performances. Application of the approach to the navigation of a mobile robot is also demonstrated.
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