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Journal Articles IEEE Transactions on Robotics Year : 2008

Catadioptric visual servoing from 3D straight lines

Abstract

In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic con- vergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy.
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Dates and versions

inria-00351865 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00351865 , version 1

Cite

Hicham Hadj-Abdelkader, Youcef Mezouar, P. Martinet, François Chaumette. Catadioptric visual servoing from 3D straight lines. IEEE Transactions on Robotics, 2008, 24 (3), pp.652-665. ⟨inria-00351865⟩
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