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G. Caron, E. Marchand, E. Mouaddib. Omnidirectional Photometric Visual Servoing. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, Pages 6202-6207, Taipei, Taiwan, October 2010.

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Visual servoing has been based on geometric features for a long time. Recent works have highlighted the interest of taking into account the photometric information of the entire image. This approach was tackled with images of perspective cameras. We propose, in this paper, to adapt this technique to central cameras. This generalization allows to apply this kind of method to wide field of view cameras. We also propose to adapt gradient computation to take into account distorsions of such cameras. Several experiments have been successfully done with a fisheye camera


Eric Marchand

BibTex Reference

   Author = {Caron, G. and Marchand, E. and Mouaddib, E.},
   Title = {Omnidirectional Photometric Visual Servoing},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10},
   Pages = {6202--6207},
   Address = {Taipei, Taiwan},
   Month = {October},
   Year = {2010}

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