Speed command of a robotic system by monocular pose estimate

摘要

Recent progress in monocular localization of modelled objects allow to design a robot command based on pose from visual information. The computing time of such algorithms was was once too great for them to be used in real-time closed-loop control, but this is no longer so. The principle of this command is to control the camera location relative to the pose of a target object: this approach is not only straightforward, but moreover it is fairly general in the fact that it does not depend on the visual information which is treated but only of the localization delivered by these treatments. This command has been implemented on a camera-equipped robotic system, a Cartesian robot arm, to track volumic objects.