Tatsambon08c
R. Tatsambon Fomena, F. Chaumette. Using spherical moments for visual servoing from a special target with unique projection center cameras. In Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008, Pages 119-124, Hanoi, Vietnam, December 2008.
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Abstract
This paper focuses on visual servoing from a special target using a vision sensor with an unique projection center. The target is a sphere marked with two points on its surface. Using a spherical projection model, a new minimal set of six features is proposed for this target. Spherical moments are exploited to compute the new set on the image of the sensor. Using the new set, a classical control method is proved to be asymptotically stable even in the presence of modeling errors. Experimental results with a perspective camera and a fish-eye camera validate the proposed theoretical results
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BibTex Reference
@InProceedings{Tatsambon08c,
Author = {Tatsambon Fomena, R. and Chaumette, F.},
Title = {Using spherical moments for visual servoing from a special target with unique projection center cameras},
BookTitle = {Int. Conf. on Control, Automation, Robotics and Vision, ICARCV 2008},
Pages = {119--124},
Address = {Hanoi, Vietnam},
Month = {December},
Year = {2008}
}
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