Visual servoing from lines

N. Andreff, B. Espiau, R. Horaud
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
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:10.1109/robot.2000.846334 dblp:conf/icra/AndreffEH00 fatcat:ifgduhmvzvef7fz4zb4cl7kmoq