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Visual servoing on unknown objects
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DOI：10.1016/j.mechatronics.2011.09.009.png)
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Abstract
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We study visual servoing in a framework of detection and grasping of unknown objects. Classically, visual servoing has been used for applications where the object to be servoed on is known to the robot prior to the task execution. In addition, most of the methods concentrate on aligning the robot hand with the object without grasping it. In our work, visual servoing techniques are used as building blocks in a system capable of detecting and grasping unknown objects in natural scenes. We show how different visual servoing techniques facilitate a complete grasping cycle. (C) 2011 Elsevier Ltd. All rights reserved.
Keywords:
Visual servoing
Object grasping
Calibration
Active vision
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