TY - GEN
T1 - A visual servoing model for generalised cameras
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Comport, A. I.
AU - Mahony, R.
AU - Spindler, F.
PY - 2011
Y1 - 2011
N2 - 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 Plücker 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.
AB - 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 Plücker 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.
UR - http://www.scopus.com/inward/record.url?scp=84864929296&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5979678
DO - 10.1109/ICRA.2011.5979678
M3 - Conference contribution
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5683
EP - 5688
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -