Photometric visual servoing for omnidirectional cameras

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 ...

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...

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...

Omnidirectional photometric visual path following for wheelchair autonomous driving

In this paper we address the issue of autonomous wheelchair navigation. Using an omnidirectional camera, we propose a system that allows wheelchair driving using a visual path following technique. First, a visual path composed of target images is acquired. Second, successive visual servoings are performed by minimizing the error between the current and a target image. Experiments were conducted...