Visual servoing using projective kinematics

被引：0
|
作者：
Ruf, A [1 ]
Martin, F [1 ]
Lamiroy, B [1 ]
Horaud, R [1 ]
机构：
[1] INRIA Rhone Alpes, F-38330 Montbonnet St Martin, France
来源：
ROBOTICS RESEARCH | 2000年
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：
This paper presents a new approach to controlling a robot from video-feedback. In contrast to classical approaches, the entire system is modeled by means of projective geometry. For the robot's geometry in particular, we introduce a new formalism "projective kinematics". As a result, motions in joint- and image-space can be related without metric calibration, and a corresponding visual control law can be derived. We present experiments for projective robot calibration and visual servoing, both using uncalibrated cameras.
引用
收藏
页码：97 / 104
页数：8
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