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Communication Dans Un Congrès Année : 2006

Homography based visual servoing with omnidirectional cameras: the cases of points and lines

Résumé

This paper presents homography-based visual servoing scheme valid for the entire class of central catadioptriccameras (including conventional perspective cameras). First geometrical relationships between imaged points and lines intwoviews are exploited to estimate a generic homography matrix from which a partial Euclidean reconstruction is obtained. The informations extracted from the homography and imaged points and lines are then used to design hybrid control laws.
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Dates et versions

hal-02468364 , version 1 (05-02-2020)

Identifiants

  • HAL Id : hal-02468364 , version 1

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Hicham Hadj Abdelkader, Y. Mezouar, Nicolas Andreff, Philippe Martinet. Homography based visual servoing with omnidirectional cameras: the cases of points and lines. MMAR06 - 12th IEEE International Conference on Methods and Models in Automation and Robotics, Aug 2006, Międzyzdroje, Poland. ⟨hal-02468364⟩
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