NDLI: Calibration free path planning for visual servoing yielding straight line behaviour both in image and work space

Content Provider	IEEE Xplore Digital Library
Author	Schramm, F. Micaelli, A. Morel, G.
Copyright Year	2005
Description	Author affiliation: CEA, LIST - DTSI/SCRI, Fontenay-aux-Roses, France (Schramm, F.; Micaelli, A.)
Abstract	Trajectory planning for eye-in-hand visual servoing is usually performed in the Euclidean work space of the robot or in a two dimensional image space. However, planning in Euclidean space may lead to very inappropriate trajectories in image space and vice versa. These difficulties are due to the perspective transformation of the camera, loss of one dimension due to projection onto the image plane and the fact that only a rough approximation of camera parameters is practically available. Hence, this paper proposes a planning scheme for image trajectories such that straight line behaviour is ensured both in image space and world space, ie. a single but arbitrarily chosen point in the image plane performs straight line behaviour as well as the camera optical center in work space. This way, trajectories become very compact and most of the above mentioned problems are avoided in a natural way. The algorithm requires as a priori information nothing more than matched image points (in pixels) from a current and desired image and a depth set for at least one position.
Starting Page	2216
Ending Page	2221
File Size	156497
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1545382
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Calibration Path planning Visual servoing Cameras Robot vision systems Trajectory Orbital robotics Pixel Motion control Convergence Calibration free Visual Servoing Image based
Content Type	Text
Resource Type	Article

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