Visual Servoing from Lines

Nicolas Andreff 1, * Bernard Espiau 1 Radu Horaud 2
* Corresponding author
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Graphisme, Vision et Robotique, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : In this paper we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allows us to define a new representation, the so-called binormalized Pl ̈cker coordinates. They are particularly u well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.
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Nicolas Andreff, Bernard Espiau, Radu Horaud. Visual Servoing from Lines. International Journal of Robotics Research, SAGE Publications, 2002, 21 (8), pp.679--700. 〈hal-00520167〉

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