Visual Servoing Along Epipoles
نویسندگان
چکیده
منابع مشابه
A Visual Servoing Techinique based on Epipoles Motion Estimation
A new image-based visual servoing, based on the epipolar geometry, is presented. The estimation of the epipoles position, obtained by points correspondences extracted from two different images, allows to control the hand-eye robotic system. The camera-robot motion is achieved from the observation of the epipoles coordinates. Experimental results are presented.
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I. ABSTRACT A novel visual servoing method is presented. The algorithm works for both apparent contours and point features and does not require any information about the internal camera parameters. The proposed visual servoing is based on the epipolar geometry and exploits the autoepipolar property, a special configuration for the epipoles which occurs when the desired and current views undergo...
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متن کاملA Visual Servoing Algorithm Based on Epipolar Geometry
A visual servoing algorithm for mobile robots is proposed. The main feature of the algorithm is that it exploits object profiles rather than solving correspondence problems using object features or texture. This property is crucial for mobile robot navigation in unstructured environments where the 3D scene exhibits only surfaces whose main features are their apparent contours. The framework is ...
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تاریخ انتشار 2004