Visual servoing using projective kinematics

被引：0

作者：

Ruf, A ^{[1
]}

Martin, F ^{[1
]}

Lamiroy, B ^{[1
]}

Horaud, R ^{[1
]}

机构：

[1] INRIA Rhone Alpes, F-38330 Montbonnet St Martin, France

来源：

ROBOTICS RESEARCH | 2000年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot's geometry in particular, we introduce a new formalism "projective kinematics". As a result, motions in joint- and image-space can be related without metric calibration, and a corresponding visual control law can be derived. We present experiments for projective robot calibration and visual servoing, both using uncalibrated cameras.

引用

页码：97 / 104

页数：8

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