HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Conference papers

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.
Document type :
Conference papers
Complete list of metadata

Cited literature [21 references]  Display  Hide  Download

https://hal.inria.fr/hal-02468364
Contributor : Philippe Martinet Connect in order to contact the contributor
Submitted on : Wednesday, February 5, 2020 - 5:55:37 PM
Last modification on : Friday, April 15, 2022 - 11:08:03 AM
Long-term archiving on: : Wednesday, May 6, 2020 - 5:30:37 PM

File

MMAR_2006_hadj.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-02468364, version 1

Collections

Citation

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⟩

Share

Metrics

Record views

13

Files downloads

50