Active Camera Self-orientation using Dynamic Image Parameters

Permission to make digital or hard copies of part or all of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for proot or direct commercial advantage and that copies show this notice on the rst page or initial screen of a display along with the full citation. Copyrights for components of this work owned by others than the publisher must be honoured and acknowledged. Abstract. We are interested in the realization of active visual tasks, and we propose an innovative visual servoing method using parameters obtained from visual motion processing. In particular, we consider the task of dynamically aligning the optical axis of a translating camera with its unknown direction of translation, by controlling the orientation of the camera. Parameters of the 2D aane motion model are used. We show experimental results of this method implemented on a six d.o.f. robot arm carrying a camera on its end-eeector.