TY - GEN
T1 - Auto-epipolar visual servoing
AU - Piazzi, Jacopo
AU - Prattichizzo, Domenico
AU - Cowan, Noah J.
PY - 2004
Y1 - 2004
N2 - We present a purely rotational visual servoing algorithm which aligns the orientation between two cameras at different locations in space. Specifically, our kinematic controller steers a set of so-called bi-tangent lines to intersect at the epipole using a purely image-based bi-tangent line Jacobian. Bi-tangent lines, i.e. lines joining corresponding features on the superposition of two views of a scene, can be defined for both points and contours, so we apply our controller to both feature types. Simulated experiments demonstrate the parametric robustness of the proposed method.
AB - We present a purely rotational visual servoing algorithm which aligns the orientation between two cameras at different locations in space. Specifically, our kinematic controller steers a set of so-called bi-tangent lines to intersect at the epipole using a purely image-based bi-tangent line Jacobian. Bi-tangent lines, i.e. lines joining corresponding features on the superposition of two views of a scene, can be defined for both points and contours, so we apply our controller to both feature types. Simulated experiments demonstrate the parametric robustness of the proposed method.
UR - https://www.scopus.com/pages/publications/14044254255
UR - https://www.scopus.com/pages/publications/14044254255#tab=citedBy
M3 - Conference contribution
AN - SCOPUS:14044254255
SN - 0780384636
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 363
EP - 368
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -