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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.
Cited literature [21 references]
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
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
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MMAR_2006_hadj.pdf
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