Visual servoing from three points using a spherical projection model - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Conference Papers Year : 2010

Visual servoing from three points using a spherical projection model

Abstract

This paper deals with visual servoing from three points. Using the geometric properties of the spherical projection of points, a new decoupled set of six visual features is proposed. The main originality lies in the use of the distances between spherical projection of points to define three features that are invariant to camera rotations. The three other features present a linear link with respect to camera rotations. In comparison with the classical perspective coordinates of points, the new decoupled set does not present more singularities. In addition, using the new set in its non-singular domain, a classical control law is proven to be ideal for rotational motions. These theoretical results as well as the robustness to errors of the new decoupled control scheme are illustrated through simulation results.

Keywords

Fichier principal
Vignette du fichier
2010_icra_tatsambon.pdf (229.93 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

inria-00544794 , version 1 (09-12-2010)

Identifiers

  • HAL Id : inria-00544794 , version 1

Cite

Romeo Tatsambon Fomena, Omar Tahri, François Chaumette. Visual servoing from three points using a spherical projection model. IEEE Int. Conf. on Robotics and Automation, ICRA'10, 2010, Anchorage, Alaska, United States. pp.5537-5542. ⟨inria-00544794⟩
157 View
108 Download

Share

Gmail Facebook X LinkedIn More