Visual servoing from 3D straight lines with central catadioptric cameras

Youcef Mezouar 1 Hicham Hadj-Abdelkader 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 the six degrees of freedom of a manipulator using the projection of 3D lines in the image plane of central catadioptric systems. Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic interaction matrix for the projection of 3D straight lines is derived from the projection model of the entire class of central catadioptric cameras. Then an image-based control law is designed and validated through simulation results.
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Youcef Mezouar, Hicham Hadj-Abdelkader, P. Martinet, François Chaumette. Visual servoing from 3D straight lines with central catadioptric cameras. Fifth Workshop on Omnidirectional Vision, Omnivis'2004, 2004, Prague, Czech Republic, Czech Republic. ⟨inria-00352032⟩

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