Abstract : This paper is concerned with the use of a spherical projection model to design optimal visual features for visual servoing. Here two special targets are considered: a sphere marked with two points on its surface and a sphere marked with a tangent vector to a point on its surface. For these targets we propose a new minimal set of six visual features which can be computed on classical perspective cameras. Using the new set, a classical control method is proved to be globally stable even in the presence of modeling error. In comparison with the previous set originally proposed for the second target, the new set draws a better camera trajectory. Finally, simulation and experimental results confirm the validity of the proposed theoretical results.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, 2008, Nice, France, France. pp.3040-3045, 2008
https://hal.inria.fr/inria-00351878
Contributeur : Eric Marchand
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Soumis le : lundi 12 janvier 2009 - 10:11:01
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : mardi 8 juin 2010 - 19:26:00
R. Tatsambon Fomena, François Chaumette. Visual servoing from two special compounds of features using a spherical projection model. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'08, 2008, Nice, France, France. pp.3040-3045, 2008. 〈inria-00351878〉
