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Omnidirectional Visual Servoing using the Normalized Mutual Information

Bertrand Delabarre 1 Guillaume Caron 2 Eric Marchand 1 
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : Geometrical features have been a key element of visual servoing for several years. Recently, different works have shown how using all the information within the images can lead to successful servoing tasks. In particular, works using mutual information have been proposed and tested on perspective cameras. In this paper we propose to adapt this approach to vision systems following the unified sphere model for central cameras using a normalized version of the mutual information. This will permit to apply the technique to large fields of view with a more reliable similarity function. Several experiments are performed on a cartesian robot with a fisheye camera to validate our approaches.
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Submitted on : Sunday, November 11, 2012 - 11:42:55 AM
Last modification on : Thursday, January 20, 2022 - 4:20:34 PM
Long-term archiving on: : Tuesday, February 12, 2013 - 3:00:08 AM


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  • HAL Id : hal-00750585, version 1


Bertrand Delabarre, Guillaume Caron, Eric Marchand. Omnidirectional Visual Servoing using the Normalized Mutual Information. 10th IFAC Symposium on Robot Control, Syroco'12, Sep 2012, Dubrovnik, Croatia. pp.102-107. ⟨hal-00750585⟩



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