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ICRA
2002
IEEE

Images Interpolation for Image-Based Control under Large Displacement

9 years 4 months ago
Images Interpolation for Image-Based Control under Large Displacement
The principal deficiency of image-based visual servoing is that the induced (3D) trajectories are not optimal and sometimes, especially when the displacement to realize is large, these trajectories are not physically valid leading to the failure of the servoing process. Furthermore, visual control needs a matching step between the features extracted from the initial image and the desired one. This step can be problematic (or impossible) when the camera displacement between the acquisitions of the initial and desired images is large and/or for complex scenes. To resolve these deficiencies, we couple an image interpolation process between N relay images extracted from a database and an image-based trajectory tracking. The camera calibration and the model of the observed scene are not assumed to be known. The relay images are interpolated in such a way that the corresponding camera trajectory is minimal. First a closed form collineation path is obtained and then the analytical form of ...
Youcef Mezouar, Anthony Remazeilles, Patrick Gros,
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Youcef Mezouar, Anthony Remazeilles, Patrick Gros, François Chaumette
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