Visual servoing from 3D straight lines with central catadioptric camerasReport as inadecuate

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1 LASMEA - Laboratoire des sciences et matériaux pour l-électronique et d-automatique 2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE, Inria Rennes – Bretagne Atlantique , CRISAM - Inria Sophia Antipolis - Méditerranée

Abstract : In this paper we consider the problem of controlling the six degrees of freedom of a manipulator using the projection of 3D lines in the image plane of central catadioptric systems. Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic interaction matrix for the projection of 3D straight lines is derived from the projection model of the entire class of central catadioptric cameras. Then an image-based control law is designed and validated through simulation results.

Author: Youcef Mezouar - Hicham Hadj-Abdelkader - P. Martinet - François Chaumette -



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