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ICRA
2007
IEEE

Visual Servoing from Spheres using a Spherical Projection Model

10 years 5 months ago
Visual Servoing from Spheres using a Spherical Projection Model
— In this paper, we investigate the use of a spherical projection model to search for optimal visual features for visual servoing. A new minimal set of three visual features is proposed for visual servoing from spheres using any central catadioptric system. Using this set of features, a classical control method is proved to be globally stable even in the presence of modeling error and locally stable to calibration errors on perspective cameras. Using this type of cameras, experimental results are presented and validate the proposed theoretical results.
Romeo Tatsambon Fomena, François Chaumette
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Romeo Tatsambon Fomena, François Chaumette
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