Decoupled homography-based visual servoing with omnidirectional cameras

This paper presents a new hybrid decoupled vision-based control scheme valid for the entire class of central catadioptric sensors (including conventional perspective cameras). First, we consider the structure from motion problem using imaged 3D lines (conics). Polar lines of the principal point with respect to the conic curves are exploited to estimate a generic homography matrix from which a partial Euclidean reconstruction is obtained. The polar tines and the information extracted from the homography are then used to design a control law which allow us to fully decouple rotational motions from translational motions.