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A visual serving model for generalised cameras: Case study of non-overlapping cameras

Comport, A.I.; Mahony, Robert; Spindler, Fabien

Description

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]

CollectionsANU Research Publications
Date published: 2011
Type: Conference paper
URI: http://hdl.handle.net/1885/64470
Source: IEEE International Conference on Robotics and Automation 2011 proceedings
DOI: 10.1109/ICRA.2011.5979678

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