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| HAL : inria-00549098, version 1 |
| Voir la fiche détaillée |  BibTeX,EndNote,... |
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| IEEE Trans. on Robotics 26, 4 (2010) 684-697 |
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| Decoupled image-based visual servoing for cameras obeying the unified projection model |
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| Omar Tahri 1Youcef Mezouar 2 |
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| (2010) |
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| This paper proposes a generic decoupled image-based control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom (DOFs). Importantly, we form invariants that decrease the sensitivity of the interaction matrix to object-depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic 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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| Visual Servoing |
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| Liste des fichiers attachés à ce document : | |||||
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| inria-00549098, version 1 | |
| http://hal.inria.fr/inria-00549098 | |
| oai:hal.inria.fr:inria-00549098 | |
| Contributeur : Eric Marchand | |
| Déposé pour le compte de : | |
| Soumis le : Mardi 21 Décembre 2010, 11:44:46 | |
| Dernière modification le : Mardi 21 Décembre 2010, 13:52:31 | |
