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Combining Cartesian and cylindrical coordinates in IBVS

P. Corke 1 F. Spindler 2 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 : Image-based visual servo (IBVS) is a simple, efficient and robust technique for vision-based control. Although technically a local method in practice it demonstrates almost global convergence. However IBVS performs very poorly for cases that involve large rotations about the optical axis. It is well known that re-parameterizing the problem by using polar, instead of Cartesian coordinates, of feature points overcomes this limitation. First, simulation and experimental results are presented to show the complementarity of these two parameterizations. We then describe a new hybrid visual servo strategy based on combining polar and Cartesian image Jacobians.
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P. Corke, F. Spindler, François Chaumette. Combining Cartesian and cylindrical coordinates in IBVS. IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, 2009, St Louis, USA, United States. pp.5962-5967. ⟨inria-00436741⟩

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