Visual servoing from spheres with paracatadioptric cameras

R. Tatsambon Fomena; François Chaumette

Visual servoing from spheres with paracatadioptric cameras

R. Tatsambon Fomena ¹ François Chaumette ¹

1 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 : A paracatadioptric camera consists of the coupling of a parabolic mirror with a telecentric lens which realizes an orthographic projection to the image sensor. This type of camera provides large field of view images and has therefore potential applications for mobile and aerial robots. This paper is concerned with visual servoing using paracatadioptric cameras. A new optimal combination of visual features is proposed for visual servoing from spheres. Using this combination, a classical control law is proved to be globally stable even in the presence of modeling error. Experimental and simulation results validate the proposed theoretical results.

Type de document :

Chapitre d'ouvrage

Lee, S. and Hong Suh, I. and Sang Kim, M. Recent Progress in Robotics, Selected papers from ICAR'07, LNCIS 370, Springer-Verlag, pp.199-213, 2008

Domaine :

Informatique [cs] / Robotique [cs.RO]

Liste complète des métadonnées

https://hal.inria.fr/inria-00351877
Contributeur : Eric Marchand <>
Soumis le : lundi 12 janvier 2009 - 10:11:00
Dernière modification le : vendredi 16 novembre 2018 - 01:39:48
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:25:54

2008_lncis_tatsambon.pdf

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