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.
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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|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|
|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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