Élisa Fromont

2 accepted papers

2022

Visual Servoing in Autoencoder Latent Space

Samuel Felton, Pascal Brault, Élisa Fromont, Éric Marchand

RA-L 2022

Visual servoing (VS) is a common way in robotics to control a robot motion usinginformation acquired by a camera. This approach requires to extract visual information from the image to design the control law. The resulting servo loop is built in order to minimize an error expressed in the image spac

Cited by 16 Source ↗Scholar ↗

2021

Siame-se(3): regression in se(3) for end-to-end visual servoing

Samuel Felton, Élisa Fromont, Eric Marchand

ICRA 2021poster

In this paper we propose a deep architecture and the associated learning strategy for end-to-end direct visual servoing. The considered approach allows to sequentially predict, in se(3), the velocity of a camera mounted on the robot’s end-effector for positioning tasks. Positioning is achieved with…

Cited by 17 Source ↗Scholar ↗