Visual Servoing from Lines  

Oleh:

Andreff, Nicolas ; Espiau, Bernard ; Horaud, Radu

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 21 no. 8 (Aug. 2002), page 679-699.
Topik: visual servoing; projective geometry; line representation; Plücker coordinates
Fulltext: 679.pdf (760.02KB)

Isi artikel

In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Plücker coordinates. These are particularly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has several properties: partial decoupling betweenrotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.

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