A visual servoing model for generalised cameras: Case study of non-overlapping cameras

A. I. Comport*, R. Mahony, F. Spindler

*Corresponding author for this work

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    6 Citations (Scopus)

    Abstract

    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.

    Original languageEnglish
    Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Pages5683-5688
    Number of pages6
    DOIs
    Publication statusPublished - 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

    NameProceedings - IEEE International Conference on Robotics and Automation
    ISSN (Print)1050-4729

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Country/TerritoryChina
    CityShanghai
    Period9/05/1113/05/11

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