Spherical image-based visual servo and structure estimation


Autoria(s): Corke, Peter I.
Data(s)

01/05/2010

Resumo

This paper presents a formulation of image-based visual servoing (IBVS) for a spherical camera where coordinates are parameterized in terms of colatitude and longitude: IBVSSph. The image Jacobian is derived and simulation results are presented for canonical rotational, translational as well as general motion. Problems with large rotations that affect the planar perspective form of IBVS are not present on the sphere, whereas the desirable robustness properties of IBVS are shown to be retained. We also describe a structure from motion (SfM) system based on camera-centric spherical coordinates and show how a recursive estimator can be used to recover structure. The spherical formulations for IBVS and SfM are particularly suitable for platforms, such as aerial and underwater robots, that move in SE(3).

Formato

application/pdf

Identificador

http://eprints.qut.edu.au/33734/

Publicador

IEEE

Relação

http://eprints.qut.edu.au/33734/1/33734.pdf

DOI:10.1109/ROBOT.2010.5509199

Corke, Peter I. (2010) Spherical image-based visual servo and structure estimation. In Proceedings 2010 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Anchorage, Alaska, pp. 5550-5555.

Direitos

Copyright 2010 IEEE

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Fonte

Faculty of Built Environment and Engineering; School of Engineering Systems

Palavras-Chave #090600 ELECTRICAL AND ELECTRONIC ENGINEERING #image-based visual servoing
Tipo

Conference Paper