Visual Servoing from Lines

Nicolas Andreff, Bernard Espiau, Radu Horaud
2002 The international journal of robotics research  
In this paper, we use an alternative formulation of the Euclidean Plucker coordinates t o define the new of normalized Plucker coordinates alignment of lines. This concept is more relevant than usual image alagnment to position a single calibrated camera with respect to a set of known 3~ lines. An explicit control law is derived which realizes such a task both for one or several lines. It is tested by positioning the camera with respect to a n orthogonal trihedron. This application is all the
more » ... allenging an that it requires depth to be observed. W e do this by using the image projection of a laser pointer and adequately completing the control law.
doi:10.1177/027836402761412430 fatcat:yse3bc5igradhpqsub7j4xzf6u