NDLI: Positioning a camera with respect to planar objects of unknown shape by coupling 2-D visual servoing and 3-D estimations

Content Provider	IEEE Xplore Digital Library
Author	Collewet, C. Chaumette, F.
Copyright Year	1989
Abstract	This paper proposes a way to achieve positioning tasks by 2-D visual servoing when the desired image of the observed object cannot be precisely described. The object is assumed to be planar and motionless, but no knowledge about its shape or pose is required. First, we treat the case of a threadlike object, and then we show how our approach can be generalized to an object with three particular points. The control law is based on the use of 2-D visual servoing, and on an estimation of two 3-D parameters. We show that this control scheme is not sensitive to the calibration of the camera. We conclude this paper by experimental results relative to objects of unknown shape. In addition, an algorithm to estimate the depth between the object and the camera is provided, which finally leads to a 3-D estimation of the object shape.
Starting Page	322
Ending Page	333
Page Count	12
File Size	464997
File Format	PDF
ISSN	1042296X
Volume Number	18
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-06-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Shape Visual servoing Calibration Three dimensional displays Virtual manufacturing Deformable models Surgery Aerospace industry Agriculture
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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