Authors:
Nicolas Andreff
;
Sounkalo Dembélé
;
Brahim Tamadazte
and
Zill-e Hussnain
Affiliation:
Université de Franche-Comté/CNRS/ENSMM/UTBM, France
Keyword(s):
Laser Surgery, Visual Servoing, Epipolar Geometry.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Vision, Recognition and Reconstruction
Abstract:
This paper proposes to use the analogy between a scanning laser beam and a camera. Thereby, a degenerate stereoscopic system can be defined by such a virtual camera and a real camera observing the laser spot on the tissues. This system can be mathematically described by means of epipolar geometry. From the latter, a vision-based control law which has no any matrix inversion nor estimation of the 3D scene is developed. According to the first results of simulation, the proposed control law shows an exponential convergence and robustness with the presence of noise in the sensors signals.