Intrinsics-free visual servoing with respect to straight lines
نویسندگان
چکیده
In this paper we propose a new approach for visualservoing with respect to a set of 3D straight lines. The main difference with respect to previous approaches is that the new scheme can be used with a zooming camera or even if the reference image has been learned with a different camera. The zoom is particularly useful in order to keep the visual features in the camera field of view and/or to bound their size in the image reducing the influence of noise on features extraction. Experiments with a zooming camera have validated the vision-based control law.
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