A visual servoing algorithm for hand-eye robotic system based on epipolar geometry is proposed. The control law is based on the estimation of the epipoles position obtained by points correspondences extracted from the current and target images. The camera-robot motion is computed from the observation of the epipoles coordinates. Only the principal camera point is assumed to be known but not the other intrinsic parameters. Experimental results are reported to validate the visual servoing algorithm proposed.
Piazzi, J., Prattichizzo, D., Vicino, A. (2003). Visual servoing along epipoles. In Control Problems in Robotics (pp. 215-231). BERLIN HEIDELBERG : Springer Verlag [10.1007/3-540-36224-X_14].
Visual servoing along epipoles
PRATTICHIZZO D.;VICINO A.
2003-01-01
Abstract
A visual servoing algorithm for hand-eye robotic system based on epipolar geometry is proposed. The control law is based on the estimation of the epipoles position obtained by points correspondences extracted from the current and target images. The camera-robot motion is computed from the observation of the epipoles coordinates. Only the principal camera point is assumed to be known but not the other intrinsic parameters. Experimental results are reported to validate the visual servoing algorithm proposed.
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https://hdl.handle.net/11365/13488