Project Description

M2SV is an exploratory project funded by CNRS’ Special Interest Group on Information, Signal, Image and Vision (GDR ISIS). In this project led by UTBM, CIAD lab, CNRS-AIST JRL is a partner as UPJV, MIS lab (France) too. The aim is to enable the direct visual servoing of both the mobile base and the robot arm with a single spherical camera onboard the mobile base. Thus, a combined eye-in-hand / eye-t-hand visual servo is to be considered. This project emerges from DVS-straight.

The goals are:

  • Optimal placement of the spherical camera
  • Eye-in-hand spherical vision-based control of the robot base
  • Eye-to-hand spherical vision-based control of the robot arm

M2SV system will be integrated on mobile manipulators of UTBM and JRL and assessed in experiments.



Funded by

Title Authors Conference/Book Year bib pdf
Dual-Hemispherical Photometric Visual Servoing N. Crombez, J. Buisson, A. André, G. Caron IEEE Robotics and Automation Letters 2024