Decoupled Image-Based Visual Servoing for Cameras Obeying the Unified Projection Model

Visual Servoing Path Planning for Cameras Obeying the Unified Model

This paper proposes a path-planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras, and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature, and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow...

Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model

In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the projection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtai...

Image-based Visual Servoing with Central Catadioptric Cameras

This paper presents an image-based visual servoing strategy for the autonomous navigation of a mobile holonomic robot from a current toward a desired pose, specified only through a current and a desired image acquired by the on-board central catadioptric camera. This kind of vision sensor combines lenses and mirrors to enlarge the field of view. The proposed visual servoing does not need any me...

Multi-Cameras Visual Servoing

Photometric visual servoing for omnidirectional cameras

2D visual servoing consists in using data provided by a vision sensor for controlling the motions of a dynamic system. Most of visual servoing approaches has relied on the geometric features that have to be tracked and matched in the image acquired by the camera. Recent works have highlighted the interest of taking into account the photometric information of the entire image. This approach was ...