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O. Tahri, Y. Mezouar, F. Chaumette, H. Araujo. Visual servoing and pose estimation with cameras obeying the unified model. In Visual Servoing via Advanced Numerical Methods, G. Chesi, K. Hashimoto (eds.), pp. 231-252, LNCIS 401, Springer-Verlag, 2010.

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In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the pro- jection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtained using these features for visual servoing and pose estimation as well


Francois Chaumette

BibTex Reference

   Author = {Tahri, O. and Mezouar, Y. and Chaumette, F. and Araujo, H.},
   Title = {Visual servoing and pose estimation with cameras obeying the unified model},
   BookTitle = {Visual Servoing via Advanced Numerical Methods},
   editor = {Chesi, G. and Hashimoto, K.},
   Pages = {231--252},
   Publisher = {LNCIS 401, Springer-Verlag},
   Year = {2010}

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