%0 Conference Proceedings
%F Cretual00b
%A Crétual, A.
%A Chaumette, F.
%A Sandini, G.
%T Image-based positioning with respect to a non-structured scene using 2D image motion
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'00
%V 	 3
%P 1696-1701
%C Takamatsu, Japon
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2000_iros_cretual.pdf
%8 November
%D 2000