Visual Trajectories from Uncalibrated Stereo - Archive ouverte HAL Access content directly
Conference Papers Year : 1997

Visual Trajectories from Uncalibrated Stereo

(1) , (1)


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.
Fichier principal
Vignette du fichier
rufIROS97a.pdf (732.61 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

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


  • HAL Id : inria-00590079 , version 1


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⟩
107 View
54 Download


Gmail Facebook Twitter LinkedIn More