Using spherical moments for visual servoing from a special target with unique projection center 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 : This paper focuses on visual servoing from a special target using a vision sensor with an unique projection center. The target is a sphere marked with two points on its surface. Using a spherical projection model, a new minimal set of six features is proposed for this target. Spherical moments are exploited to compute the new set on the image of the sensor. Using the new set, a classical control method is proved to be asymptotically stable even in the presence of modeling errors. Experimental results with a perspective camera and a fish-eye camera validate the proposed theoretical results.
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Communication dans un congrès
Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, Hanoi, Vietnam, France. pp.119-124, 2008
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R. Tatsambon Fomena, François Chaumette. Using spherical moments for visual servoing from a special target with unique projection center cameras. Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, 2008, Hanoi, Vietnam, France. pp.119-124, 2008. 〈inria-00351879〉

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