A calibration free analytical solution to image points path planning that ensures visibility

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 1, 2004, Pages 485-490

  Schramm, Florian ^a   Morel, Guillaume ^b  

^a UNIVERSITÉ PIERRE ET MARIE CURIE   (France)

^b INSTITUT DE RADIOPROTECTION ET DE SÛRETÉ NUCLÉAIRE   (France)

Author keywords

[No Author keywords available]

Indexed keywords

IMAGE ANALYSIS; IMAGE RECONSTRUCTION; IMAGE SENSORS; MOTION PLANNING; SYSTEMS ANALYSIS;

COLLINEATION; INTRINSIC CAMERA PARAMETERS; VISUAL SERVOING;

ROBOTICS;

EID: 3042616840     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307196     Document Type: Conference Paper

References (19)

1. S. Hutchinson, G. Hager, and P. Corke, "A Tutorial on Visual Servo Control," IEEE Trans. on Robotics and Automation, vol. 12, no. 5, pp. 651-670, 1996.
2. B. Espiau, F. Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. on Robotics and Automation, vol. 8, no. 3, pp. 313-326, 1992.
3. E. Malis and F. Chaumette, "Theoretical Improvements in the Stability Analysis of a New Class of Model-Free Visual Servoing Methods," IEEE Trans. on Robotics and Automation, vol. 18, no. 2, pp. 176-186, 2002.
4. G. Chesi, K. Hashimoto, D. Prattichizzo, and A. Vicino, "Keeping features in the camera's field of view: a visual servoing strategy," in Proc. of 15th Int. Symp. on Mathematical Theory of Networks and Systems, Notre-Dame, Indiana, 2002. pp. 723-730.
5. G. Morel, T. Liebezeit, J. Szewczyk, S. Boudet, and J. Pot, "Explicit incorporation od 2D Constraints in Vision Based Control of Robot Manipulators," in Int.Symposium on Experimental Robotics, Sydney, 1999. pp. 99-108.
6. P. I. Corke and S. A. Huchinson, "A New Hybrid Image-Based Visual Servoing by Decoupling Translation and Rotation," in Proc. of IEEE Int. Conf. on Decision and Control, Melbourn, 2000, pp. 2521-25 272.
7. P. Zanne, G. Morel, and F. Plestan, "Robust 3D Vision Based Control and Planinng," in Proc. of IEEE Int. Conf. on Robotics and Automation, New Orleans, USA, May 2004, to appear.
8. Y. Mezouar and F. Chaumette, "Path planning for robust image based control," IEEE Trans. on Robotics and Automation, vol. 18, no. 4, pp. 534-549, 2002.
9. H. Zhang and J. P. Ostrowski, "Visual motion planning for mobile robots," IEEE Trans. on Robotics and Automation, vol. 18, no. 2, p. 199208, 2002.
10. N. Cowan, J. Weingarten, and D. Koditschek, "Visual Servoing via Navigation Functions," IEEE Trans. on Robotics and Automation, vol. 18, no. 4, pp. 521-533, 2002.
11. Y. Mezouar and F. Chaumette, "Model-free optimal trajectories in the image space," in IEEE Int. Conf. on Computer Vision and Pattern Recognition, CVPR '01, vol. 1, Hawai, USA, 2001, pp. 1155-1162.
12. J. A. Borgstadt and N. J. Ferner, "Visual servoing by homography decomposition," in Proc. of IEEE Int. Conf. on Robotics and Automation, Seoul, Korea, May 2001, pp. 723-730.
13. Forsyth and Ponce, Computer Vision. A modern approach. New Jersey, USA: Prentice Hall, 2002.
14. E. Malis, "Contributions à la modélisation et à la commande en asservissement visuel," Ph.D. dissertation, Université de Rennes I, Rennes, 1998.
15. _, "Vision based control invariant to camera intrinsic parameters: stability analysis and path tracking," in Proc. of IEEE Int. Conf. on Robotics and Automation, vol. 1, Washingotn, USA, May 2002, pp. 217-222.
16. Y. Mezouar, A. Remazeilles, P. Gros, and F. Chaumette, "Images Interpolation for Image-based Control Under Large Displacements," in Proc. of IEEE Int. Conf. on Robotics and Automation, vol. 3, Washington, USA, 2002, pp. 3787-3794.
17. Y. Mezouar and F. Chaumette, "Design and tracking of desirable trajectories in the image space by integrating mechanical and visibility constraints," in Proc. of IEEE Int. Conf. on Robotics and Automation, vol. 1, Seoul, Korea, 2001, pp. 731-736.
18. F. Schramm, G. Morel, A. Micaelli, and A. Lettin, "Extended-2D Visual Servoing," in Proc. of IEEE Int. Conf. on Robotics and Automation, New Orlean, USA, May 2004, to appear.
19. R. I. Hartley, "In defense of the eight-point algorithm," IEEE Trans. Pattern Anal. Machine Intell., vol. 19, no. 6, pp. 580-593, 1997.