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2008

Catadioptric Visual Servoing From 3-D Straight Lines

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Catadioptric Visual Servoing From 3-D Straight Lines
In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic convergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy.
Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe M
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2008
Where TROB
Authors Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe Martinet, François Chaumette
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