Comport, A.I.; Mahony, Robert; Spindler, Fabien
This paper proposes an adaptation of classical image-based visual servoing to a generalised imaging model where cameras are modelled as sets of 3D viewing rays. This new model leads to a generalised visual servoing control formalism that can be applied to any type of imaging system whether it be multi-camera, catadioptric, non-central, etc. In this paper the generalised 3D viewing cones are parameterised geometrically via Plücker line coordinates. The new visual servoing model is tested on an...[Show more]
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