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Homography based visual servoing with omnidirectional cameras: the cases of points and lines

Abstract : This paper presents homography-based visual servoing scheme valid for the entire class of central catadioptriccameras (including conventional perspective cameras). First geometrical relationships between imaged points and lines intwoviews are exploited to estimate a generic homography matrix from which a partial Euclidean reconstruction is obtained. The informations extracted from the homography and imaged points and lines are then used to design hybrid control laws.
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https://hal.inria.fr/hal-02468364
Contributor : Philippe Martinet <>
Submitted on : Wednesday, February 5, 2020 - 5:55:37 PM
Last modification on : Wednesday, September 9, 2020 - 10:50:17 AM
Long-term archiving on: : Wednesday, May 6, 2020 - 5:30:37 PM

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  • HAL Id : hal-02468364, version 1

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Hicham Hadj Abdelkader, Y. Mezouar, Nicolas Andreff, Philippe Martinet. Homography based visual servoing with omnidirectional cameras: the cases of points and lines. MMAR06 - 12th IEEE International Conference on Methods and Models in Automation and Robotics, Aug 2006, Międzyzdroje, Poland. ⟨hal-02468364⟩

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