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Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model

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Visual Servoing via Advanced Numerical Methods

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 401))

Abstract

In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the projection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtained using these features for visual servoing and pose estimation as well.

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Author information

Authors and Affiliations

  1. Institute for Systems and Robotics, Polo II 3030-290, Coimbra, Portugal

    Omar Tahri & Helder Araujo

  2. LASMEA, University Blaise Pascal, Campus des Cezeaux, 63177, Aubiere, France

    Youcef Mezouar

  3. INRIA, Campus de Beaulieu, 35042, Rennes, France

    François Chaumette

Authors
  1. Omar Tahri
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  2. Youcef Mezouar
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  3. François Chaumette
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  4. Helder Araujo
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Editor information

Editors and Affiliations

  1. Department of Electrical and Electronic Engineering, University of Hong Kong, Pokfulam Road, Hong Kong, China, People’s Republic

    Graziano Chesi

  2. Dept. System Information Sciences, Tohoku University, 6-6-01 Aramaki-Aza Aoba, 980-8579, Sendai, Aoba-ku, Japan

    Koichi Hashimoto

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Tahri, O., Mezouar, Y., Chaumette, F., Araujo, H. (2010). Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model. In: Chesi, G., Hashimoto, K. (eds) Visual Servoing via Advanced Numerical Methods. Lecture Notes in Control and Information Sciences, vol 401. Springer, London. https://doi.org/10.1007/978-1-84996-089-2_13

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  • DOI: https://doi.org/10.1007/978-1-84996-089-2_13

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84996-088-5

  • Online ISBN: 978-1-84996-089-2

  • eBook Packages: EngineeringEngineering (R0)

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