Visual servoing and pose estimation with cameras obeying the unified model

Abstract : In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the pro- jection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtained using these features for visual servoing and pose estimation as well.
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Omar Tahri, Youcef Mezouar, François Chaumette, Helder Araujo. Visual servoing and pose estimation with cameras obeying the unified model. Chesi, G. and Hashimoto, K. Visual Servoing via Advanced Numerical Methods, LNCIS 401, Springer-Verlag, pp.231--252, 2010. ⟨inria-00548936⟩

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