Visual Servoing from Lines

In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Plücker coordinates. These are particularly well suited for visual...

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Bibliographic Details
Published in:The International journal of robotics research 2002-08, Vol.21 (8), p.679-699
Main Authors: Andreff, Nicolas, Espiau, Bernard, Horaud, Radu
Format: Article
Language:English
Subjects:
Computer Science
Mathematical analysis
Mathematical models
Robotics
Robots
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Summary:In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Plücker coordinates. These are particularly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.
ISSN:0278-3649
1741-3176
DOI:10.1177/027836402761412430