%0 Journal Article 
%F Hadj08a
%A Hadj-Abdelkader, H.
%A Mezouar, Y.
%A Martinet, P.
%A Chaumette, F.
%T Catadioptric visual servoing from 3D straight lines
%J IEEE Trans. on Robotics
%V 	 24
%N 3
%P 652-665
%X In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic con- vergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy
%U http://rainbow-doc.irisa.fr/pdf/2008_itro_hadj.pdf
%U http://dx.doi.org/10.1109/TRO.2008.919288
%8 June
%D 2008