Catadioptric visual servoing from 3-D straight lines

IEEE Transactions on Robotics

Volumn 24, Issue 3, 2008, Pages 652-665

  Hadj Abdelkader, Hickam ^a,b   Mezouar, Youcef ^a   Martinet, Philippe ^a   Chaumette, François ^c  

^a UNIVERSITÉ CLERMONT AUVERGNE   (France)

^b INRIA   (France)

^c CAMPUS DE BEAULIEU   (France)

Author keywords

3 D straight lines; Omnidirectional vision; Visual servoing

Indexed keywords

IMAGING SYSTEMS; MOBILE ROBOTS; PROJECTION SYSTEMS; ROBOTIC ARMS; ROBOTICS; THREE DIMENSIONAL; VISUAL SERVOING;

CENTRAL CATADIOPTRIC SYSTEMS; CONTROL OBJECTIVE (CO); CONTROL STRATEGIES; EYE-TO-HAND; IMAGE FEATURES; IMAGE PLANES; IMAGE-BASED CONTROL; IMAGING MODEL; INTERACTION MATRICES; LOCAL ASYMPTOTIC; NON HOLONOMIC MOBILE ROBOTS; NON HOLONOMIC ROBOT; REAL EXPERIMENTS; SIMULATION RESULTS; STRAIGHT LINES;

ROBOTS;

EID: 46649100321     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.919288     Document Type: Article

References (46)

1. N. Andreff, B. Espiau, and R. Horaud, "Visual servoing from lines," Int. J. Robot. Res., vol. 21, no. 8, pp. 679-700, Aug. 2002.
2. S. Baker and S. K. Nayar, "A theory of single-viewpoint catadioptric image formation," Int. J. Comput. Vis., vol. 35, no. 2, pp. 1-22, Nov. 1999.
3. J. Barreto and H. Araujo, "Geometric properties of central catadioptric line images," in Proc. 7th Eur. Conf. Comput. Vis. (ECCV 2002), Copenhagen, Denmark, May, pp. 237-251.
4. J. Barreto and H. Araujo, "Direct least square fitting of paracatadioptric line images," in Proc. OMNIVIS 2003 Workshop Omnidirectional Vs. Camera Netw., Madison, WI, Jun., pp. 78-83.
5. J. P. Barreto, F. Martin, and R. Horaud, "Visual servoing/tracking using central catadioptric images," in Proc. 2002 ISER 8th Int. Symp. Exp. Robot., Mumbai, India, Jul., pp. 863-869.
6. S. Benhimane and E. Malis, "Vision-based control with respect to planar and non-planar objects using a zooming camera," in Proc. IEEE Int. Conf. Adv. Robot., Jul. 2003, pp. 863-869.
7. R. Benosman and S. Kang, Panoramic Vision. New York: Springer-Verlag, 2000.
8. P. Blaer and P. K. Allen, "Topological mobile robot localization using fast vision techniques," in Proc. IEEE Int. Conf. Robot. Autom., Washington, May 2002, vol. 1, pp. 1031-1036.
9. D. Burshka, J. Geiman, and G. Hager, "Optimal landmark configuration for vision based control of mobile robot," in Proc. IEEE Int. Conf. Robot. Autom., Tapei, Taiwan, Sep. 2003, vol. 3, pp. 3917-3922.
10. F. Chaumette, "Potential problems of stability and convergence in image-based and position-based visual servoing," in The Confluence of Vision and Control (LNCIS Series 237), D. Kriegman, G. Hager, and A. S. Morse, Eds. New York: Springer-Verlag, 1998, pp. 66-78.
11. E Chaumette, "Image moments: A general and useful set of features for visual servoing," IEEE Trans. Robot., vol. 20, no. 4, pp. 713-723, Aug. 2004.
12. J. Chen, W. E. Dixon, D. M. Dawson, and M. McIntyre, "Homography-based visual servo tracking control of a wheeled mobile robot," IEEE Trans. Robot., vol. 22, no. 2, pp. 407-415, Apr. 2006.
13. G. Chesi, K. Hashimoto, D. Prattichizzo, and A. Vicino, "Keeping features in the field of view in eye-in-hand visual servoing: A switching approach," IEEE Trans. Robot., vol. 20, no. 5, pp. 908-913, Oct. 2004.
14. N. J. Cowan, J. D. Weingarten, and D. E. Koditschek, "Visual servoing via navigation functions," IEEE Trans. Robot. Autom., vol. 18, no. 4, pp. 521-533, Aug. 2002.
15. M. Dhome, M. Richetin, J. T. Lapreste, and G. Rives, "Determination of the attitude of 3D objects from a single perpective view," IEEE Trans. Pattern Anal. Mach. Intell., vol. 11, no. 12, pp. 1265-1278, Dec. 1989.
16. B. Espiau, E Chaumette, and P. Rives, "A new approach to visual servoing in robotics," IEEE Trans. Robot. Autom., vol. 8, no. 3, pp. 313-326, Jun. 1992.
17. A. Fitzgibbon, M. Pilu, and R. B. Fisher, "Direct least-squares fitting of ellipses," IEEE Trans. Pattern Anal. Mach. Intell., vol. 21, no. 5, pp. 476-480, May 1999.
18. G. Flandin, F. Chaumette, and E. Marchand, "Eye-in-hand/eye-to-hand cooperation for visual servoing," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA 2000), San Francisco, Apr., vol. 3, pp. 2741-2746.
19. C. Geyer and K. Damilidis, "A unifying theory for central panoramic systems and practical implications," in Eur. Conf. Comput. Vis., Dublin, Ireland, May 2000, vol. 29, pp. 159-179.
20. H. Hadj-Abdelkader, Y. Mezouar, N. Andreff, and P. Martinet, "Image-based control of mobile robot with central catadioptric cameras," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA 2005), Barcelonna, Spain, Apr., pp. 3522-3527.
21. H. Hadj Abdelkader, Y Mezouar, and P. Martinet, "Path planning for image based control with omni directional cameras," in Proc. 45th IEEE Conf. Decision Control (CDC 2006), San Diego, CA, Dec., pp. 1764-1769.
22. R. Horaud, "New methods for matching 3D objects with single perpective view," IEEE Trans. Pattern Anal. Mach. Intell., vol. 9, no. 3, pp. 401-412, May 1987.
23. S. Hutchinson, G. D. Hager, and P. I. Corke, "A tutorial on visual servo control," IEEE Trans. Robot. Autom., vol. 12, no. 5, pp. 651-670, Oct. 1996.
24. J. Kosecka, "Visually guided navigation," in Proc. 4th Int. Symp. Intell. Robot. Syst. (SIRS 1996), Lisbon, Portugal, Jul., pp. 77-95.
25. Luca, A. De, G. Oriolo, and C. Samson, "Feedback control of a nonholonomic car-like robot," in Robot Motion Planning and Control (Lecture Notes in Control and Information Sciences), vol. 229, J. P. Laumond, Ed. New York: Springer-Verlag, 1998, pp. 171-253 (ISBN 3-540-76219-1).
26. Y Ma, J. Kosecka, and S. S. Sastry, "Vision guided navigation for a nonholonomic mobile robot," IEEE Trans. Robot. Autom., vol. 15, no. 3, pp.521-537, Jun.1999.
27. R. Mahony and T. Hamel, "Visual servoing usinf linear features for underactuated rigid body dynamics," in Intell. Robot. Symp. (IROS 2001), May, vol. 2, pp. 1153-1158.
28. E. Malis, J. Borrelly, and P. Rives, "Intrinsics-free visual servoing with respect to straight lines," in IEEE/RSJ Int. Conf. Intell. Robots Syst., Lausanne, Switzerland, Oct. 2002, vol. 1, pp. 384-389.
29. E. Malis, E Chaumette, and S. Boudet, "2 1/2 D visual servoing/," IEEE Trans. Robot. Autom., vol. 15, no. 2, pp. 238-250, Apr. 1999.
30. E. Marchand, F. Spindler, and F. Chaumette, "ViSP for visual servoing: A generic software platform with a wide class of robot control skills," IEEE Robot. Autom. Mag., vol. 12, no. 4, pp. 40-52, Dec. 2005.
31. G. L. Mariottini, G. Oriolo, and D. Prattichizzo, "Image-based visual servoing for nonholonomic mobile robots with central catadioptric camera using epipolar geometry," IEEE Trans. Robot., vol. 23, no. 1, pp. 87-100, Feb.2007.
32. Y Mezouar and F. Chaumette, "Path planning for robust image-based control," IEEE Trans. Robot. Autom., vol. 18, no. 4, pp. 534-549, Aug. 2002.
33. Y Mezouar and F. Chaumette, "Avoiding self-occlusions and preserving visibility by path planning in the image," Robot. Autom. Syst., vol. 41, no. 2, pp. 77-87, Nov. 2002.
34. Y Mezouar, H. Hal Abdelkader, P. Martinet, and F. Chaumette, "Central catadioptric visual servoing from 3D straight lines," in IEEE/RSJ Int. Conf. Intell. Robots Syst., IROS 2004, Sendai, Japan, Sep. vol. 1, pp. 343-349.
35. Y. Mezouar and E. Malis, "Robustness of central catadioptric image-based visual servoing to uncertainties on 3D parameters," in IEEE/RSJ Int. Conf. Intell. Robots Syst. (IROS 2004), Sendai, Japan, Sep., pp. 1389-1394.
36. H. Michel and P. Rives, "Singularities in the determination of the situation of a robot effector from the perspective view of 3 points," INRIA, Tech. Rep. 1850, Feb. 1993.
37. M. R. Murray and S. S. Sastry, "Nonholonomic motion planning: Steering using sinusoids," IEEE Trans. Autom. Control, vol. 3 8, no. 5, pp. 700-716, 1993.
38. A. Paulino and H. Araujo, "Multiple robots in geometric formation: Control structure and sensing," in Proc. Int. Symp. Intell. Robot. Syst., Jul. 2000, pp. 103-112.
39. P. Rives and B. Espiau, "Closed-loop recursive estimation of 3D features for a mobile vision system," in Proc. IEEE Int. Conf. Robot. Autom. (ICRA 1987), Raleigh, NC, Mar., vol. 4, pp. 1436-1443.
40. C. Samson, "Control of chained system. application to path following and time-varying stabilization of mobile robot," IEEE Trans. Autom. Control, vol. 40, no. 1, pp. 64-77, Jan. 1995.
41. C. Samson, B. Espiau, and M. Le Borgne, Robot Control: The Task Function Approach. Oxford, UX.: Oxford Univ. Press, 1991.
42. B. Thuilot, P. Martinet, L. Cordesses, and J. Gallice, "Position-based visual servoing: Keeping the object in the field of vision," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 2002, vol. 2, pp. 1624-1629.
43. D. Tsakiris, P. Rives, and C. Samson, "Extending visual servoing techniques to nonholonomic mobile robots," in The Confluence of Vision and Control (Lecture Notes in Control and Information Science), vol. 237, G. Hager, D. Kriegman, and A. Morse, Eds. New York: Springer-Verlag, 1998, pp. 106-117.
44. K. Usher, P. Ridly, and P. Corke, "Visual servoing of a car-like vehicle - An application of onmidirectional vision," in Proc. Aust. Conf. Robot. Autom., Auckland, Nov. 2002, pp. 37-42.
45. R. Vidal, O. Shakernia, and S. Sastry, "Formation control of nonholonomic mobile robots with ormudirectional visual servoing and motion segmentation," in Proc. IEEE Int. Conf. Robot. Autom., Taipei, Taiwan, Sep. 2003, pp. 584-589.
46. N. Winter, J. Gaspar, G. Lacey, and J. Santos-Victor, "Ominidirectional vision for robot navigation," in Proc. IEEE Workshop Oinnidirectional Vis. (OMNIVIS), Jun. 2000, pp. 21-28.