Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
Fast and Globally Convergent Pose Estimation from Video Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
A Generic Camera Model and Calibration Method for Conventional, Wide-Angle, and Fish-Eye Lenses
IEEE Transactions on Pattern Analysis and Machine Intelligence
A New Linear Calibration Method for Paracatadioptric Cameras
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 04
A new formulation of visual servoing based on cylindrical coordinate system
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Image Based and Hybrid Visual Servo Control of an Unmanned Aerial Vehicle
Journal of Intelligent and Robotic Systems
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This paper is concerned with improvements to visual feature modeling using a spherical projection model. Three spherical targets are considered: a sphere, a sphere marked with a tangent vector to a point on its surface, and a sphere marked with two points on its surface. A new minimal and decoupled set of visual features is proposed for each target using any central catadioptric camera. Using the proposed set for a sphere, a classical control law is proved to be globally asymptotically stable in the presence of modeling errors and locally asymptotically stable in the presence of calibration errors, considering that perspective and paracatadioptric cameras were used. Simulation and experimental results with perspective, paracatadioptric, and fish-eye cameras validate the proposed theoretical results.