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Spherical image-based visual servo and structure estimation

Corke, Peter I. (2010) Spherical image-based visual servo and structure estimation. In Proceedings 2010 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Anchorage, Alaska, pp. 5550-5555.

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    This paper presents a formulation of image-based visual servoing (IBVS) for a spherical camera where coordinates are parameterized in terms of colatitude and longitude: IBVSSph. The image Jacobian is derived and simulation results are presented for canonical rotational, translational as well as general motion. Problems with large rotations that affect the planar perspective form of IBVS are not present on the sphere, whereas the desirable robustness properties of IBVS are shown to be retained. We also describe a structure from motion (SfM) system based on camera-centric spherical coordinates and show how a recursive estimator can be used to recover structure. The spherical formulations for IBVS and SfM are particularly suitable for platforms, such as aerial and underwater robots, that move in SE(3).

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    10 citations in Scopus
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    5 citations in Web of Science®

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    ID Code: 33734
    Item Type: Conference Paper
    Keywords: image-based visual servoing
    DOI: 10.1109/ROBOT.2010.5509199
    ISBN: 10504729
    ISSN: 9781424450381
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2010 IEEE
    Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
    Deposited On: 12 Aug 2010 09:45
    Last Modified: 01 Mar 2012 00:20

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