Abstract : This paper proposes an adaptation of classical image-based visual servoing to a generalised imaging model where cameras are modelled as sets of 3D viewing rays. This new model leads to a generalised visual servoing control formalism that can be applied to any type of imaging system whether it be multi-camera, catadioptric, non-central, etc. In this paper the generalised 3D viewing cones are parameterised geometrically via Plucker line coordinates. The new visual servoing model is tested on an a-typical stereo-camera system with non-overlapping cameras. In this case no 3D information is available from triangulation and the system is comparable to a 2D visual servoing system with non-central ray-based control law.
https://hal.inria.fr/hal-00639670
Contributeur : Eric Marchand
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Soumis le : mercredi 9 novembre 2011 - 17:11:58
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : vendredi 10 février 2012 - 02:36:31
A.I. Comport, R. Mahony, F. Spindler. A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras. IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.5683-5688, 2011. 〈hal-00639670〉
