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Tahri09a

O. Tahri, Y. Mezouar, F. Chaumette, P. Corke. Generic decoupled image-based visual servoing for cameras obeying the unified projection model. In IEEE Int. Conf. on Robotics and Automation, ICRA'09, Pages 1116-1121, Kobe, Japan, May 2009.

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Abstract

In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform

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François Chaumette

BibTex Reference

@InProceedings{Tahri09a,
   Author = {Tahri, O. and Mezouar, Y. and Chaumette, F. and Corke, P.},
   Title = {Generic decoupled image-based visual servoing for cameras obeying the unified projection model},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'09},
   Pages = {1116--1121},
   Address = {Kobe, Japan},
   Month = {May},
   Year = {2009}
}

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