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Chapitre D'ouvrage Année : 2010

Visual servoing and pose estimation with cameras obeying the unified model

Résumé

In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the pro- jection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtained using these features for visual servoing and pose estimation as well.
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Dates et versions

inria-00548936 , version 1 (20-12-2010)

Identifiants

  • HAL Id : inria-00548936 , version 1

Citer

Omar Tahri, Youcef Mezouar, François Chaumette, Helder Araujo. Visual servoing and pose estimation with cameras obeying the unified model. Chesi, G. and Hashimoto, K. Visual Servoing via Advanced Numerical Methods, LNCIS 401, Springer-Verlag, pp.231--252, 2010. ⟨inria-00548936⟩
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