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

Tahri, Omar , Mezouar, Youcef , Chaumette, Francois , & Corke, Peter (2010) Decoupled image-based visual servoing for cameras obeying the unified projection model. IEEE Transactions on Robotics, 26(4), p. 684.

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Abstract

This paper proposes a generic decoupled imagebased control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom. Importantly we form invariants which decrease the sensitivity of the interaction matrix to object depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.

Impact and interest:

15 citations in Scopus
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8 citations in Web of Science®

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Full-text downloads:

30 since deposited on 19 Nov 2010
5 in the past twelve months

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ID Code: 38673
Item Type: Journal Article
Keywords: Decoupling, Invariate, Omnidirectional Cameras, Visual Servoing
DOI: 10.1109/TRO.2010.2051593
ISSN: 1552-3098
Subjects: Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > MECHANICAL ENGINEERING (091300)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2010 IEEE
Copyright Statement: (c) 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works
Deposited On: 19 Nov 2010 10:22
Last Modified: 01 Mar 2012 00:20

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