Omnidirectional Photometric Visual Servoing

Guillaume Caron 1 Eric Marchand 2 E. Mouaddib 1
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 : Visual servoing has been based on geometric features for a long time. Recent works have highlighted the interest of taking into account the photometric information of the entire image. This approach was tackled with images of perspective cameras. We propose, in this paper, to adapt this technique to central cameras. This generalization allows to apply this kind of method to wide field of view cameras. We also propose to adapt gradient computation to take into account distorsions of such cameras. Several experiments have been successfully done with a fisheye camera.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Oct 2010, Taipei, Taiwan. pp.6202-6207
Liste complète des métadonnées

Littérature citée [17 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00544782
Contributeur : Eric Marchand <>
Soumis le : jeudi 9 décembre 2010 - 00:14:17
Dernière modification le : mercredi 16 mai 2018 - 11:23:03
Document(s) archivé(s) le : jeudi 10 mars 2011 - 13:04:31

Fichier

2010_iros_caron.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00544782, version 1

Citation

Guillaume Caron, Eric Marchand, E. Mouaddib. Omnidirectional Photometric Visual Servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Oct 2010, Taipei, Taiwan. pp.6202-6207. 〈inria-00544782〉

Partager

Métriques

Consultations de la notice

511

Téléchargements de fichiers

139