Visual Servoing from Lines

Transcription

Visual Servoing from Lines
Nicolas Andreff, Bernard Espiau, Radu Horaud
To cite this version:
Nicolas Andreff, Bernard Espiau, Radu Horaud. Visual Servoing from Lines. [Research Report]
RR-4226, INRIA. 2001. <inria-00072393>
HAL Id: inria-00072393
https://hal.inria.fr/inria-00072393
Submitted on 24 May 2006
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INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE
Nicolas Andreff, Bernard Espiau et Radu Horaud
N° 4226
Juillet 2001
ISSN 0249-6399
ISRN INRIA/RR--4226--FR+ENG
THÈME 3
apport
de recherche
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Unité de recherche INRIA Rhône-Alpes
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Vitesses de rotation
Vitesses lineaires
deg/s
cm/s
50
10
0
40
-10
30
-20
20
-30
10
-40
Nb iterations
Nb iterations
0
-50
0
20
40
60
80
100
120
140
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180
200
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40
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120
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160
180
200
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c XW]_d J VedK[^T$VWXZ^"
Erreur
70
60
50
40
30
20
10
Nb iterations
0
0
20
40
60
80
100
120
140
160
180
200
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512
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-0.344
⊕
410
307
-0.506
z
y
205
-0.667
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-0.195
102
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sp
Vitesses lineaires
Vitesses de rotation
cm/s
deg/s
20
50
10
40
0
30
-10
-20
20
-30
10
-40
Nb iterations
Nb iterations
0
-50
0
20
40
60
80
100
120
140
160
180
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20
40
60
80
100
120
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160
180
200
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Erreur
70
60
50
40
30
20
10
Nb iterations
0
0
20
40
60
80
100
120
140
160
180
200
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512
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-0.343
⊕
410
-0.507
307
z
y
205
-0.671
x
-0.202
102
-0.044
-0.9971
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51
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154
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256
307
358
410
461
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1.0
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0.6
0.6
0.4
0.4
0.2
0.2
0
0
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-0.2
-0.4
-0.4
-0.6
-0.6
-0.8
-1.0
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0
40
80
120
160
200
240
280
0
40
80
120
160
200
240
280
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Omega
V
0.020
1.0e-03
0.016
7.0e-04
0.012
4.0e-04
0.008
1.0e-04
0.004
-2.0e-04
0.000
-5.0e-04
-0.004
-8.0e-04
-0.008
-1.1e-03
-0.012
-1.4e-03
-0.016
-1.7e-03
-0.020
-2.0e-03
0
25
rot/x
rot/y
rot/z
50
75
¯]_diXWN+1~i®
100
125
150
175
200
225
250
0
25
Vx
Vy
Vz
50
75
100
125
150
175
200
225
250
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Erreurs
Centre
0.50
240
0.45
0.40
192
⊕
0.35
0.30
144
0.25
0.20
96
0.15
0.10
48
0.05
0.00
0
0
|]d3bXWN+t+7®
50
25
75
100
125
150
175
200
225
250
0
46
91
137
183
229
274
320
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Omega
V
0.0030
1.0e-03
0.0006
7.0e-04
-0.0018
4.0e-04
-0.0042
1.0e-04
-0.0066
-2.0e-04
-0.0090
-5.0e-04
-0.0114
-8.0e-04
-0.0138
-1.1e-03
-0.0162
-1.4e-03
-0.0186
-1.7e-03
-0.0210
-2.0e-03
0
52
rot/x
rot/y
rot/z
104
155
207
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Unité de recherche INRIA Rhône-Alpes
655, avenue de l’Europe - 38330 Montbonnot-St-Martin (France)
Unité de recherche INRIA Lorraine : LORIA, Technopôle de Nancy-Brabois - Campus scientifique
615, rue du Jardin Botanique - BP 101 - 54602 Villers-lès-Nancy Cedex (France)
Unité de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu - 35042 Rennes Cedex (France)
Unité de recherche INRIA Rocquencourt : Domaine de Voluceau - Rocquencourt - BP 105 - 78153 Le Chesnay Cedex (France)
Unité de recherche INRIA Sophia Antipolis : 2004, route des Lucioles - BP 93 - 06902 Sophia Antipolis Cedex (France)
Éditeur
INRIA - Domaine de Voluceau - Rocquencourt, BP 105 - 78153 Le Chesnay Cedex (France)
ISSN 0249-6399

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