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Generic decoupled image-based visual servoing for cameras obeying the unified projection model

By Omar Tahri, Youcef Mezouar, Francois Chaumette and Peter Corke


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

Topics: 090600 ELECTRICAL AND ELECTRONIC ENGINEERING, 090602 Control Systems Robotics and Automation, calibrated cameras, unified projection model, translational motion control, rotational motions, object projections, decoupled image-based visual servoing, fisheye camera, generic visual servoing, imaged-based control scheme
Publisher: IEEE
Year: 2009
DOI identifier: 10.1109/ROBOT.2009.5152359
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