%0 Conference Proceedings
%F Comport11a
%A Comport, A.
%A Mahony, R.
%A Spindler, F.
%T A Visual Servoing Model for Generalised Cameras: Case study of non-overlapping cameras
%B IEEE Int. Conf. on Robotics and Automation, ICRA'11
%P 5683-5688
%C Shanghai, China
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2011_icra_comport.pdf
%U http://dx.doi.org/10.1109/ICRA.2011.5979678
%8 May
%D 2011