We present a purely rotational visual servoing algorithm, which aligns the orientation between two cameras at different locations in space. Specifically, our kinematic controller steers a set of so-called bi-tangent lines to intersect at the epipole using a purely image-based bi-tangent line Jacobian. Bi-tangent lines, i.e. lines joining corresponding features on the superposition of two views of a scene, can be defined for both points and contours, so we apply our controller to both feature types. Simulated experiments demonstrate the parametric robustness of the proposed method.
Piazzi, J., Prattichizzo, D., Cowan, N.J. (2004). Auto-epipolar visual servoing. In Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004) (pp.363-368). IEEE [10.1109/IROS.2004.1389379].
Auto-epipolar visual servoing
Prattichizzo D.;
2004-01-01
Abstract
We present a purely rotational visual servoing algorithm, which aligns the orientation between two cameras at different locations in space. Specifically, our kinematic controller steers a set of so-called bi-tangent lines to intersect at the epipole using a purely image-based bi-tangent line Jacobian. Bi-tangent lines, i.e. lines joining corresponding features on the superposition of two views of a scene, can be defined for both points and contours, so we apply our controller to both feature types. Simulated experiments demonstrate the parametric robustness of the proposed method.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/33021
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo