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Generic decoupled image-based visual servoing for cameras obeying the unified projection model

Tahri, Omar, Mezouar, Youcef, Chaumette, Francois, & Corke, Peter (2009) Generic decoupled image-based visual servoing for cameras obeying the unified projection model. In Proceedings IEE International Conference on Robotics and Automation 2009, ICRA '09, IEEE, Kobe International Conference Center, Kobe, Japan, pp. 1116-1121.

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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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    ID Code: 33755
    Item Type: Conference Paper
    Keywords: calibrated cameras , unified projection model, translational motion control, rotational motions , object projections, decoupled image-based visual servoing, fisheye camera, generic visual servoing, imaged-based control scheme
    DOI: 10.1109/ROBOT.2009.5152359
    ISBN: 9781424427888
    ISSN: 10504729
    Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
    Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
    Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
    Past > Schools > School of Engineering Systems
    Copyright Owner: Copyright 2009 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: 13 Aug 2010 10:12
    Last Modified: 01 Mar 2012 00:12

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