R. Tatsambon Fomena, F. Chaumette. Improvements on visual servoing from spherical targets using a spherical projection model. IEEE Trans. on Robotics, 25(4):874-886, August 2009.
Download paper: Adobe portable document (pdf)
Copyright notice:
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2015, Projet Lagadic
This paper is concerned with improvements to visual feature modeling using a spherical projection model. Three spherical targets are considered: a sphere, a sphere marked with a tangent vector to a point on its surface, and a sphere marked with two points on its surface. A new minimal and decoupled set of visual features is proposed for each target using any central catadioptric camera. Using the proposed set for a sphere, a classical control law is proved to be globally asymptotically stable in the presence of modeling errors and locally asymptotically stable in the presence of calibration errors, considering that perspective and paracatadioptric cameras were used. Simulation and experimental results with perspective, paracatadioptric, and fish-eye cameras validate the proposed theoretical results
@article{Tatsambon09a,
Author = {Tatsambon Fomena, R. and Chaumette, F.},
Title = {Improvements on visual servoing from spherical targets using a spherical projection model},
Journal = {IEEE Trans. on Robotics},
Volume = { 25},
Number = {4},
Pages = {874--886},
Publisher = {IEEE},
Month = {August},
Year = {2009}
}
Get EndNote Reference (.ref)
| Lagadic
| Map
| Team
| Publications
| Demonstrations
|
Irisa - Inria - Copyright 2009 © Lagadic Project |