Visual Servoing from straight lines

In this paper we consider the problem of controlling a robotic system by using the projection of 3D straight lines in the image plane of central catadioptric systems. Most of the effort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic central catadioptric interaction matrix for the projection of 3D straight lines is derived from the projection model of an entire class of camera. Then an image-based control law is designed and validated through simulation results and real experiments with a mobile robot.Dans cet article, nous présentons une stratégie de commande de systèmes robotiques en utilisant comme entrées d'une boucle d'asservissement visuel des primitives relatives à la projection de droites dans le plan image d'une caméra panoramique à point central unique. Afin de réaliser la commande d'un système robotique par asservissement visuel, il est nécessaire d'estimer la matrice d'interaction liant les mouvements de la caméra aux mouvements des primitives visuelles dans l'image. Dans cet article, nous dérivons la forme analytique de la matrice d'interaction générique relative à la projection de droites à partir d'un modèle de projection englobant la classe entière des caméras à point central unique. Elle est ensuite utilisée dans un schéma d'asservissement visuel. Des simulations ainsi que des résultats expérimentaux sur un robot mobile valident l'approche proposée

Decoupled visual servoing based on the spherical projection of a set of points

International audienc

Paracatadioptric visual servoing from lines

International audienceIn this paper we present a new approach to control the 6 degrees of freedom of a manipulator using the projection of 3D lines extracted from the image plane of an omnidi-rectional camera. The main motivation of this work is to overcome the problem of visibility when using classical vision sensor. Indeed one of the principal deficiency of classical visual servoing strategy is that some parts of the visual features may get out of the field of view during servoing leading to its failure. Panoramic cameras overcome this problem because of their wider field of view. The present paper is concerned with the use of lines in paracataioptric visual servoing. Indeed when dealing with real environments (in-door or outdoor) or industrial workpiece, the extraction and the tracking of lines is natural. We derive the panoramic image jacobian for lines in the case of image based visual servoing. The corresponding control law is then designed and validated

Visual Servoing from 3D Straight Lines with Central Catadioptric Cameras

In this paper we consider the problem of controlling the six degrees of freedom of a manipulator using the projection of 3D lines in the image plane of central catadioptric systems. Most of the e#ort in visual servoing are devoted to points, only few works have investigated the use of lines in visual servoing with traditional cameras and none has explored the case of omnidirectional cameras. First a generic interaction matrix for the projection of 3D straight lines is derived from the projection model of the entire class of central catadioptric cameras. Then an image-based control law is designed and validated through simulation results