In this paper, we address the problem of generating trajectories of some image features in order to control efficiently a robotic system using an image-based control strategy. First, physically valid C image trajectories which correspond to quasioptimal 3D camera trajectory are performed. Both self-occlusions avoidance and visibility constraints are taken into account at the task planning level...

This paper demonstrates the use of image-space constraints for key frame interpolation. Interpolating in image-space results in sequences with predictable and controlable image trajectories and projected size for selected objects, particularly in cases where the desired center of rotation is not fixed or when the key frames contain perspective distortion changes. Additionally, we provide the us...

This paper presents a real-time tracking technique for constructing spherical image mosaics from sequences of images. The main contribution is a tracking algorithm able to estimate in real-time camera rotations during the sequence, assuming that the optical center of the camera remain fixed. This assumption allows us to consider a sphere centered at this particular point and having its radius e...

In this paper, we develop a novel method for camera calibration and correction. The novel method first employs a rigidity constraint from the rigid rotation matrix and the radial alignment constraint from the pin-hole camera model to estimate both camera intrinsic and extrinsic parameters with a closed-form solution without considering the camera distortion. Then the well-known Levernburg-Marqu...

This paper presents a new moving obstacle detection method using an optical flow in mobile robot with an omnidirectional camera. Because an omnidirectional camera consists of a nonlinear mirror and CCD camera, the optical flow pattern in omnidirectional image is different from the pattern in perspective camera. The geometry characteristic of an omnidirectional camera has influence on the optica...