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| HAL : inria-00436914, version 1 |
| Voir la fiche détaillée |  BibTeX,EndNote,... |
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| IEEE Int. Conf. on Robotics and Automation, ICRA'09, Kobe, Japan : France (2009) |
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| Generic decoupled image-based visual servoing for cameras obeying the unified projection model |
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| O. Tahri 1Y. Mezouar 2 |
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| (2009) |
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| In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform. |
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| 1 : | Institute of Systems and Robotics (ISR-UC) |
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Universidade de Coimbra |
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| 2 : | Laboratoire des sciences et matériaux pour l'électronique et d'automatique (LASMEA) |
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CNRS : UMR6602 – Université Blaise Pascal - Clermont-Ferrand II |
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| 3 : | LAGADIC (INRIA - IRISA) |
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CNRS : UMR6074 – INRIA – Université de Rennes 1 |
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| 4 : | Autonomous Systems Laboratory (BIOMEDIA) |
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CSIRO |
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| Domaine | : | Informatique/Robotique |
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| inria-00436914, version 1 | |
| http://hal.inria.fr/inria-00436914 | |
| oai:hal.inria.fr:inria-00436914 | |
| Contributeur : Eric Marchand | |
| Déposé pour le compte de : | |
| Soumis le : Vendredi 27 Novembre 2009, 21:33:45 | |
| Dernière modification le : Lundi 30 Novembre 2009, 13:36:52 | |
