Using spherical moments for visual servoing from a special target with unique projection center cameras

This paper focuses on visual servoing from a special target using a vision sensor with an unique projection center. The target is a sphere marked with two points on its surface. Using a spherical projection model, a new minimal set of six features is proposed for this target. Spherical moments are e...

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Bibliographic Details
Main Authors: Fomena, R.T., Chaumette, F.
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Cameras
central projection cameras
Error correction
Image sensors
Robot control
Robot sensing systems
Robot vision systems
Robotics and automation
Robust stability
spherical moments
Visual servoing
Online Access:Request full text
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Summary:This paper focuses on visual servoing from a special target using a vision sensor with an unique projection center. The target is a sphere marked with two points on its surface. Using a spherical projection model, a new minimal set of six features is proposed for this target. Spherical moments are exploited to compute the new set on the image of the sensor. Using the new set, a classical control method is proved to be asymptotically stable even in the presence of modeling errors. Experimental results with a perspective camera and a fish-eye camera validate the proposed theoretical results.
DOI:10.1109/ICARCV.2008.4795503