Some Properties of the E Matrix in Two-View Motion Estimation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Robust recovery of the epipolar geometry for an uncalibrated stereo rig
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Model-based object pose in 25 lines of code
International Journal of Computer Vision - Special issue: image understanding research at the University of Maryland
In Defense of the Eight-Point Algorithm
IEEE Transactions on Pattern Analysis and Machine Intelligence
Determining the Epipolar Geometry and its Uncertainty: A Review
International Journal of Computer Vision
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
From Reference Frames to Reference Planes: Multi-View Parallax Geometry and Applications
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Duality, Rigidity and Planar Parallax
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Effect of Camera Calibration Errors on Visual Servoing in Robotics
The 3rd International Symposium on Experimental Robotics III
Epipole and fundamental matrix estimation using virtual parallax
ICCV '95 Proceedings of the Fifth International Conference on Computer Vision
Scaled Euclidean 3D reconstruction based on externally uncalibrated cameras
ISCV '95 Proceedings of the International Symposium on Computer Vision
Maintaining Multiple Motion Model Hypotheses Over Many Views to Recover Matching and Structure
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Visual Homing: Surfing on the Epipoles
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
An Unified Approach to Model-Based and Model-Free Visual Servoing
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image-based robot navigation from an image memory
Robotics and Autonomous Systems
Navigation function-based visual servo control
Automatica (Journal of IFAC)
Homography-based 2D Visual Tracking and Servoing
International Journal of Robotics Research
A visual 3D-tracking and positioning technique for stereotaxy with CT scanners
Robotics and Autonomous Systems
Computers and Electronics in Agriculture
Indoor navigation of a non-holonomic mobile robot using a visual memory
Autonomous Robots
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
Building blocks for simulation of robotic manipulators
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
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
Parking with the essential matrix without short baseline degeneracies
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Decoupled visual servoing based on the spherical projection of points
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual control through the trifocal tensor for nonholonomic robots
Robotics and Autonomous Systems
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Brief paper: Adaptive Jacobian vision based control for robots with uncertain depth information
Automatica (Journal of IFAC)
A kalman-filter-based method for pose estimation in visual servoing
IEEE Transactions on Robotics
Brief paper: Range identification of features on an object using a single camera
Automatica (Journal of IFAC)
Vision-based exponential stabilization of mobile robots
Autonomous Robots
Robust homography-based control for camera positioning in piecewise planar environments
ICVGIP'06 Proceedings of the 5th Indian conference on Computer Vision, Graphics and Image Processing
Identification of a moving object's velocity with a fixed camera
Automatica (Journal of IFAC)
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Classical visual servoing techniques need a strong a priori knowledge of the shape and the dimensions of the observed objects. In this paper, we present how the 2 1/2 D visual servoing scheme we have recently developed, can be used with unknown objects characterized by a set of points. Our scheme is based on the estimation of the camera displacement from two views, given by the current and desired images. Since vision-based robotics tasks generally necessitate to be performed at video rate, we focus only on linear algorithms. Classical linear methods are based on the computation of the essential matrix. In this paper, we propose a different method, based on the estimation of the homography matrix related to a virtual plane attached to the object. We show that our method provides a more stable estimation when the epipolar geometry degenerates. This is particularly important in visual servoing to obtain a stable control law, especially near the convergence of the system. Finally, experimental results confirm the improvement in the stability, robustness, and behaviour of our scheme with respect to classical methods.