Decoupled image-based visual servoing for cameras obeying the unified projection model

Abstract : This paper proposes a generic decoupled image-based control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom (DOFs). Importantly, we form invariants that decrease the sensitivity of the interaction matrix to object-depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.
keyword : Visual Servoing
Document type :
Journal articles
Complete list of metadatas

Cited literature [31 references]  Display  Hide  Download

https://hal.inria.fr/inria-00549098
Contributor : Eric Marchand <>
Submitted on : Tuesday, December 21, 2010 - 11:44:46 AM
Last modification on : Thursday, February 7, 2019 - 2:25:53 PM
Long-term archiving on : Tuesday, March 22, 2011 - 2:48:34 AM

File

2010_itro_tahri.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00549098, version 1

Citation

Omar Tahri, Youcef Mezouar, François Chaumette, Peter Corke. Decoupled image-based visual servoing for cameras obeying the unified projection model. IEEE Transactions on Robotics, IEEE, 2010, 26 (4), pp.684-697. ⟨inria-00549098⟩

Share

Metrics

Record views

658

Files downloads

296