A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras
This paper proposes an adaptation of classical image-based visual servoing to a generalised imaging model where cameras are modelled as sets of 3D viewing rays. This new model leads to a generalised visual servoing control formalism that can be applied to any type of imaging system whether it be multi-camera, catadioptric, non-central, etc. In this paper the generalised 3D viewing cones are parameterised geometrically via Pl ¨ucker line coordinates. The new visual servoing model is tested on an a-typical stereo-camera system with non-overlapping cameras. In this case no 3D information is available from triangulation and the system is comparable to a 2D visual servoing system with non-central ray-based control law.
A.I. Comport R. Mahony F. Spindler
Laboratory I3S-CNRS University of Nice Sophia-Antipolis 06903 Sophia Antipolis,France Department of Engineering Australian National University ACT,O200,Australia INRIA Rennes Universit(e) de Rennes 1 35042 Rennes,France
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5683-5688
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）