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Visual Servoing from Lines

Nicolas Andreff 1 Bernard Espiau 2 Radu Horaud 3
2 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
3 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a new representation, the so-called binormalized Plücker coordinates. They are particularly well suited to visual servoing. Indeed, they allow the definition of a proper image line alignment notion. The control law which realizes such an alignment has moreover 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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https://hal.inria.fr/inria-00072393
Contributor : Rapport de Recherche Inria <>
Submitted on : Wednesday, May 24, 2006 - 9:50:46 AM
Last modification on : Wednesday, April 21, 2021 - 8:34:02 AM
Long-term archiving on: : Sunday, April 4, 2010 - 11:05:36 PM

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  • HAL Id : inria-00072393, version 1

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Nicolas Andreff, Bernard Espiau, Radu Horaud. Visual Servoing from Lines. [Research Report] RR-4226, INRIA. 2001. ⟨inria-00072393⟩

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