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Model-free optimal trajectories in the image space

Youcef Mezouar 1 François Chaumette 2
2 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : Since image-based servoing is a local control solution, it requires the definition of intermediate subgoals in the sensor space. This paper addresses the problem of generating realistic and optimal smooth trajectories of complex features in the image space. The model of the observed target and the internal camera parameters are assumed to be unknown. First, a closed-form smooth collineation path between given starts and endpoints is obtained. This path is generated in order to correspond to an optimal camera path. The trajectories of the image features are then derived
Mots-clés : Asservissement robotique
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Conference papers
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Submitted on : Monday, January 12, 2009 - 2:48:29 PM
Last modification on : Tuesday, June 15, 2021 - 4:22:50 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:41:03 PM


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  • HAL Id : inria-00352138, version 1


Youcef Mezouar, François Chaumette. Model-free optimal trajectories in the image space. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'01, 2001, Maui, Hawaii, United States. pp.25-31. ⟨inria-00352138⟩



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