8-4 Real time visual servoing around a complex object

Abstract

In this paper, we propose a method to perform a motion by visual servoing around an unknown object,. The approach developped in this article, can be interpreted as an initial step for a perception goal of an unmodcled object. The originality of our work is hased on the building of invariant visual features from the lnotion to perform. During the experimentations, we use a cartesian robot connected to a real time vision syst,em. A CCD camera is mounted on the end effect,or of the robot. The experin~ental result.~ present, a linkage of trajectories arourld small plast,ic toys. 1 introduction Most works in vision for robotic deal with the perception