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Paracatadioptric visual servoing from lines


In this paper we present a new approach to control the 6 degrees of freedom of a manipulator using the projection of 3D lines extracted from the image plane of an omnidi-rectional camera. The main motivation of this work is to overcome the problem of visibility when using classical vision sensor. Indeed one of the principal deficiency of classical visual servoing strategy is that some parts of the visual features may get out of the field of view during servoing leading to its failure. Panoramic cameras overcome this problem because of their wider field of view. The present paper is concerned with the use of lines in paracataioptric visual servoing. Indeed when dealing with real environments (in-door or outdoor) or industrial workpiece, the extraction and the tracking of lines is natural. We derive the panoramic image jacobian for lines in the case of image based visual servoing. The corresponding control law is then designed and validated.


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hal-02467050 , version 1 (04-02-2020)


  • HAL Id : hal-02467050 , version 1


H Hadj Abdelkader, Y. Mezouar, Philippe Martinet. Paracatadioptric visual servoing from lines. 35th International Symposium on Robotics, ISR'04, Mar 2004, Paris, France. ⟨hal-02467050⟩
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