概要
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.
