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Conference Papers Year : 1997

Visual Trajectories from Uncalibrated Stereo

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Abstract

This paper proposes a methodological framework for trajectory generation in projective space. The framework en-ables trajectories that respect rigidity constraints of structure and motion, that are furthermore uniform and optimal in terms of Euclidean configuration, eventhough no camera calibration is assumed. In a projective reconstruction of the scene, obtained e.g. from an uncalibrated stereo-rig, the homography between corresponding feature points on a rigid object in different positions is employed to represent its spatial configuration. From its algebraic structure -it is similar to a rigid motion -decoupling of rotation and translation, and uniform interpolation of trajectories are derived. Speaking in robotic terms, the merely point-to-point definitions of goals, as present in current approaches to visual servoing, are extended to a guarded motion along via points on complete-path trajectories which result from interpolation of a demanded type of motion. Translationonly, rotation-first, rotation-last task-functions are further explicited.
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Dates and versions

inria-00590079 , version 1 (03-05-2011)

Identifiers

  • HAL Id : inria-00590079 , version 1

Cite

Andreas Ruf, Radu Horaud. Visual Trajectories from Uncalibrated Stereo. Workshop on "New Trends in Image-based Robot Servoing" (IROS '97), IEEE (Institute of Electrical and Electronics Engineers) / RSJ (Robotics Society of Japan), Sep 1997, Grenoble, France. pp.83--91. ⟨inria-00590079⟩
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