@inproceedings{de62c62f48a74f26ac640ed7b77c36c3,
title = "A visual servoing model for generalised cameras: Case study of non-overlapping cameras",
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 Pl{\"u}cker 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.",
author = "Comport, \{A. I.\} and R. Mahony and F. Spindler",
year = "2011",
doi = "10.1109/ICRA.2011.5979678",
language = "English",
isbn = "9781612843865",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
pages = "5683--5688",
booktitle = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011",
note = "2011 IEEE International Conference on Robotics and Automation, ICRA 2011 ; Conference date: 09-05-2011 Through 13-05-2011",
}