| Visual Servoing from Lines (2000) | |||||||||||||||
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| In this paper, we use an alternative formulation of the Euclidean Plucker coordinates to define the new of normalized Plucker coordinates alignment of lines. This concept is more relevant than usual image alignment to position a single calibrated camera with respect to a set of known 3d lines. An explicit control law is derived which realizes such a task both for one or several lines. It is tested by positioning the camera with respect to an orthogonal trihedron. This application is all the challenging in that it requires depth to be observed. We do this by using the image projection of a laser pointer and adequately completing the control law. 1 Introduction Our work is related to the control of one camera mounted onto a robot gripper. The camera is calibrated: its intrinsic parameters and its relative position with respect to the robot end-effector (also referred to as hand-eye transformation [17]) are fixed and known in advance. The problem we address is to move the camera from ... | |||||||||||||||
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