| Visual Servoing from Lines (2001) | |||||||||||||||
Abstract | |||||||||||||||
| In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to de ne a new representation, the so-called binormalized Plucker coordinates. They are particularly well suited to visual servoing. Indeed, they allow the de nition of a proper image line alignment notion. The control law which realizes such an alignment has moreover several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control lawwas validated both in simulation and experimentally in the speci c case of an orthogonal trihedron. | |||||||||||||||
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