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Conference Papers Year : 2011

A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras

Abstract

This paper proposes an adaptation of classical image-based visual servoing to a generalised imaging model where cameras are modelled as sets of 3D viewing rays. This new model leads to a generalised visual servoing control formalism that can be applied to any type of imaging system whether it be multi-camera, catadioptric, non-central, etc. In this paper the generalised 3D viewing cones are parameterised geometrically via Plucker line coordinates. The new visual servoing model is tested on an a-typical stereo-camera system with non-overlapping cameras. In this case no 3D information is available from triangulation and the system is comparable to a 2D visual servoing system with non-central ray-based control law.
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Dates and versions

hal-00639670 , version 1 (09-11-2011)

Identifiers

  • HAL Id : hal-00639670 , version 1

Cite

A.I. Comport, R. Mahony, F. Spindler. A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras. IEEE Int. Conf. on Robotics and Automation, ICRA'11, 2011, Shanghai, China, China. pp.5683-5688. ⟨hal-00639670⟩
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