Generic decoupled image-based visual servoing for cameras obeying the unified projection model
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Description
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 | ||
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| Item Type: | Chapter in Book, Report or Conference volume (Conference contribution) | ||
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| Measurements or Duration: | 6 pages | ||
| DOI: | 10.1109/ROBOT.2009.5152359 | ||
| ISBN: | 978-1-4244-2788-8 | ||
| Pure ID: | 31897574 | ||
| Divisions: | Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering Past > Schools > School of Engineering Systems |
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| 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 00:12 | ||
| Last Modified: | 03 Mar 2024 17:00 |
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