Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Optimal object configurations to minimize the positioning error in visual servoing
IEEE Transactions on Robotics
Fast multiple-view L2 triangulation with occlusion handling
Computer Vision and Image Understanding
EVP-based multiple-view triangulation
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part III
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This paper proposes a new approach to estimate the camera displacement of stereo vision systems via minimization of the algebraic error over the essential matrices manifold. The proposed approach is based on the use of homogeneous forms and linear matrix inequality (LMI) optimizations, and has the advantages of not presenting local minima and not introducing approximations of nonlinear terms. Numerical investigations carried out with both synthetic and real data show that the proposed approach provides significantly better results than SVD methods as well as minimizations of the algebraic error over the essential matrices manifold via both gradient descent and simplex search algorithms.