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A. Comport, R. Mahony, F. Spindler. A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras. In IEEE Int. Conf. on Robotics and Automation, ICRA'11, Pages 5683-5688, Shanghai, China, May 2011.

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This paper proposes an adaptation of classical image-based visual servoing to a generalised imaging model where cameras are modelled as sets of 3D viewing rays. This new model leads to a generalised visual servoing control formalism that can be applied to any type of imaging system whether it be multi-camera, catadioptric, non-central, etc. In this paper the generalised 3D viewing cones are parameterised geometrically via Plucker line coordinates. The new visual servoing model is tested on an a-typical stereo-camera system with non-overlapping cameras. In this case no 3D information is available from triangulation and the system is comparable to a 2D visual servoing system with non-central ray-based control law


Fabien Spindler

BibTex Reference

   Author = {Comport, A. and Mahony, R. and Spindler, F.},
   Title = {A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras},
   BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'11},
   Pages = {5683--5688},
   Address = {Shanghai, China},
   Month = {May},
   Year = {2011}

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