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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Tahri, O. Mezouar, Y. Chaumette, F. Corke, P. |
| Copyright Year | 2009 |
| Description | Author affiliation: CSIRO ICT Centre, PO Box 883 Kenmore 4069, Australia (Corke, P.) || LASMEA, Université Blaise Pascal, 63177 AUBIERE, France (Mezouar, Y.) || ISR, University of Coimbra, Polo II PT-3030-290, Portugal (Tahri, O.) || INRIA Rennes Bretagne Atlantique, France (Chaumette, F.) |
| Abstract | In this paper a generic decoupled imaged-based control scheme for calibrated cameras obeying the unified projection model is proposed. The proposed decoupled scheme is based on the surface of object projections onto the unit sphere. Such features are invariant to rotational motions. This allows the control of translational motion independently from the rotational motion. Finally, the proposed results are validated with experiments using a classical perspective camera as well as a fisheye camera mounted on a 6 dofs robot platform. |
| Starting Page | 1116 |
| Ending Page | 1121 |
| File Size | 536973 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424427888 |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.2009.5152359 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-05-12 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Visual servoing Cameras Robot vision systems Transmission line matrix methods Motion control Error correction Robot kinematics Robotics and automation Automatic control Robustness |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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