Visual servoing from spheres using a spherical projection model - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2007

Visual servoing from spheres using a spherical projection model

Abstract

In this paper, we investigate the use of a spherical projection model to search for optimal visual features for visual servoing. A new minimal set of three visual features is proposed for visual servoing from spheres using any central catadioptric system. Using this set of features, a classical control method is proved to be globally stable even in the presence of modeling error and locally stable to calibration errors on perspective cameras. Using this type of cameras, experimental results are presented and validate the proposed theoretical results.
Fichier principal
Vignette du fichier
2007_icra_tatsambon.pdf (210.78 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00350747 , version 1 (07-01-2009)

Identifiers

  • HAL Id : inria-00350747 , version 1

Cite

R. Tatsambon Fomena, François Chaumette. Visual servoing from spheres using a spherical projection model. IEEE Int. Conf. on Robotics and Automation, ICRA'07, 2007, Roma, Italy. pp.2080-2085. ⟨inria-00350747⟩
116 View
180 Download

Share

Gmail Facebook Twitter LinkedIn More