IEEE Transactions on Pattern Analysis and Machine Intelligence
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
Generic decoupled image-based visual servoing for cameras obeying the unified projection model
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
On visual servoing based on efficient second order minimization
Robotics and Autonomous Systems
Visual servoing for large camera displacements
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
Catadioptric Visual Servoing From 3-D Straight Lines
IEEE Transactions on Robotics
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
Robust image-based visual servoing using invariant visual information
Robotics and Autonomous Systems
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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.