Visual servoing along epipoles

被引：0
|
作者：
Piazzi, J [1 ]
Prattichizzo, D [1 ]
Vicino, A [1 ]
机构：
[1] Univ Siena, Dipartimento Ingn Informaz, I-53100 Siena, Italy
来源：
CONTROL PROBLEMS IN ROBOTICS | 2003年 / 4卷
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：
A visual servoing algorithm for hand-eye robotic system based on epipolar geometry is proposed. The control law is based on the estimation of the epipoles position obtained by points correspondences extracted from the current and target images. The camera-robot motion is computed from the observation of the epipoles coordinates. Only the principal camera point is assumed to be known but not the other intrinsic parameters. Experimental results are reported to validate the visual servoing algorithm proposed.
引用
收藏
页码：215 / 231
页数：17
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