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ICRA
2007
IEEE

Decoupled Visual Servoing from a set of points imaged by an omnidirectional camera

10 years 5 months ago
Decoupled Visual Servoing from a set of points imaged by an omnidirectional camera
Abstract— This paper presents a hybrid decoupled visionbased control scheme valid for the entire class of central catadioptric sensors (including conventional perspective cameras). First, we consider the structure from motion problem using imaged 3D points. Geometrical relationships are exploited to enable a partial Euclidean reconstruction by decoupling the interaction between translation and rotation components of a homography matrix. The information extracted from the homography are then used to design a control law which allow us to fully decouple rotational motions from translational motions. Real time experimental results using an eye-to-hand robotic system with a paracatadioptric camera are presented and confirm the validity of our approach.
Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe M
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Hicham Hadj-Abdelkader, Youcef Mezouar, Philippe Martinet
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