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A. Crétual, F. Chaumette, G. Sandini. Image-based positioning with respect to a non-structured scene using 2D image motion. In IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00, Volume 3, Pages 1696-1701, Takamatsu, Japon, November 2000.

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Visual servoing based upon geometrical features such as image points coordinates is now well set on. Never- theless, this approach has the drawback that it usually needs visual marks on the observed object to retrieve ge- ometric features. The idea developed here is that these features can be retrieved by integrating dynamic ones, which can be estimated without any a priori knowledge of the scene. Thus, more realistic scenes can be used to achieve vision-based control such as positioning tasks. We show that an affine model is insuficient to ensure convergence and that a quadratic one is needed. Finally, results are presented related to the positioning with re- spect to a complex scene


Francois Chaumette

BibTex Reference

   Author = {Crétual, A. and Chaumette, F. and Sandini, G.},
   Title = {Image-based positioning with respect to a non-structured scene using 2D image motion},
   BookTitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00},
   Volume = {    3},
   Pages = {1696--1701},
   Address = {Takamatsu, Japon},
   Month = {November},
   Year = {2000}

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