Image-Based Visual Servoing With Light Field Cameras

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

Visual Servoing from Spheres with Paracatadioptric Cameras

A paracatadioptric camera consists of the coupling of a parabolic mirror with a telecentric lens which realizes an orthographic projection to the image sensor. This type of camera provides large field of view images and has therefore potential applications for mobile and aerial robots. This paper is concerned with visual servoing using paracatadioptric cameras. A new optimal combination of visu...

Image Based Visual Servoing with Partitioned Approach

Visual servoing has been a viable method of robot manipulator control for more than a decade. Image based visual servoing (IBVS), in particular, has seen considerable development in recent years. Recently, a number of researchers have reported tasks for which traditional IBVS methods either fail or experience serious difficulties. In response to these difficulties, several methods have been dev...

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 ...