Visual Servoing on the Sphere Using Conformal Geometric Algebra

被引:0
作者
Carlos López-Franco
Nancy Arana-Daniel
Alma Y. Alanis
机构
[1] University of Guadalajara,Computer Science Department
来源
Advances in Applied Clifford Algebras | 2013年 / 23卷
关键词
Visual servoing; robotics; conformal geometric algebra;
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摘要
This paper deals with a visual servoing scheme, which uses a paracatadioptric sensor as visual input. The paracatadioptric sensor provides a wide field of view while maintaining the single center of projection, which is a desirable property of these sensors. The projection induced by this sensor is nonlinear. In this paper a linear model of this projection is presented, the model is developed using the conformal geometric algebra framework which allows to represent nonlinear conformal transformations using a special type of multivectors called versors. With this model we relate the feature time variation with the camera velocity to design a velocity controller used in a visual servoing task.
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页码:125 / 141
页数:16
相关论文
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