EGT for multiple view geometry and visual servoing - Robotics and vision with pinhole and panoramics cameras

G.L. Mariottini, D. Prattichizzo
2005 IEEE robotics & automation magazine  
T he Epipolar Geometry Toolbox (EGT) was created to provide MATLAB users with an extensible framework for the creation and visualization of multicamera scenarios as well as for the manipulation of the visual information and the geometry between them. Functions provided, for both pinhole and panoramic vision sensors, include camera placement and visualization, computation, estimation of epipolar geometry entities, and many others. The compatibility of EGT with the Robotics Toolbox [7] enables
more » ... rs to address general vision-based control issues. Two applications of EGT to visual servoing tasks are examined in this article. We introduce the toolbox in tutorial form, and examples are provided to demonstrate its capabilities. The complete toolbox, detailed manual, and demo examples are freely available on the EGT Web site [21] .
doi:10.1109/mra.2005.1577022 fatcat:i2km2oecwvdwfjow5wjrhme32q