Catadioptric visual servoing from 3D straight lines

Hicham Hadj-Abdelkader 1 Youcef Mezouar 1 P. Martinet 1 François Chaumette 2
2 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 : In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic con- vergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy.
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IEEE Transactions on Robotics, IEEE, 2008, 24 (3), pp.652-665
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Hicham Hadj-Abdelkader, Youcef Mezouar, P. Martinet, François Chaumette. Catadioptric visual servoing from 3D straight lines. IEEE Transactions on Robotics, IEEE, 2008, 24 (3), pp.652-665. 〈inria-00351865〉

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