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Utilisation des droites en asservissement visuel omnidirectionnel

Abstract : In this paper we present a new approach to control the 6 degrees of freedom of a manipulator using the projection of 3D lines extracted from the image plane of an omni-directional camera. The main motivation of this work is to overcome the problem of visibility when using classical vision sensor. Indeed one of the principal deficiency of classical visual servoing strategy is that some parts of the visual features may get out of the field of view during servoing leading to its failure. Panoramic cameras overcome this problem because of their wider field of view. The present paper is concerned with the use of lines in omnidirectional visual servoing. Indeed when dealing with real environments (indoor or outdoor) or industrial workpiece, the extraction and the tracking of lines is natural. We derive the panoramic image jacobian for lines in the cases of image based and position based visual servoing. The corresponding control laws are then designed and validated.
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  • HAL Id : hal-02466534, version 1



Y. Mezouar, Hicham Hadj-Abdelkader, Philippe Martinet. Utilisation des droites en asservissement visuel omnidirectionnel. RFIA conference, RFIA'04, Jan 2004, Toulouse, France. ⟨hal-02466534⟩



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