Central catadioptric visual servoing from 3D straight lines - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2004

Central catadioptric visual servoing from 3D straight lines

Abstract

In this paper we consider the problem of controlling a robotic system using the projection of 3D lines in the image plane of central catadioptric systems. Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic central catadioptric interaction matrix for the projection of 3D straight lines is derived from the projection model of an entire class of camera. Then an image-based control law is designed and validated through simulation results.
Fichier principal
Vignette du fichier
2004_iros_mezouar.pdf (514.03 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00352033 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00352033 , version 1

Cite

Youcef Mezouar, Hicham Hadj-Abdelkader, P. Martinet, François Chaumette. Central catadioptric visual servoing from 3D straight lines. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04, 2004, Sendai, Japan. pp.343-349. ⟨inria-00352033⟩
224 View
198 Download

Share

Gmail Facebook X LinkedIn More