Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model

被引：29

作者：

Tahri, Omar ^{[1
]}

Mezouar, Youcef ^{[2
]}

Chaumette, Francois ^{[3
]}

Corke, Peter ^{[4
]}

机构：

[1] Inst Syst & Robot, P-3030290 Coimbra, Portugal

[2] Univ Blaise Pascal, LASMEA, F-63177 Clermont Ferrand, France

[3] INRIA Rennes, F-35042 Rennes, France

[4] Queensland Univ Technol, Sch Engn Syst, Brisbane, Qld 4001, Australia

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2010年 / 26卷 / 04期

关键词：

Decoupling; invariants; omnidirectional cameras; visual servoing;

D O I：

10.1109/TRO.2010.2051593

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes a generic decoupled image-based control scheme for cameras obeying the unified projection model. The scheme is based on the spherical projection model. Invariants to rotational motion are computed from this projection and used to control the translational degrees of freedom (DOFs). Importantly, we form invariants that decrease the sensitivity of the interaction matrix to object-depth variation. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6-DOF robotic platform.

引用

页码：684 / 697

页数：14

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