Visual Servoing from Lines

Nicolas Andreff (1) , Bernard Espiau (2) , Radu Horaud (1)

1 MOVI - Modeling, localization, recognition and interpretation in computer vision
2 BIP - Biped Robot

We use an alternative formulation of the Euclidean Plucker coordinates to define the new normalized Plucker coordinates for 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 more 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.

Mots clés: image motion analysis; image sensors; manipulators; position control

Domaines: Synthèse d'image et réalité virtuelle [cs.GR]

Nicolas Andreff, Bernard Espiau, Radu Horaud. Visual Servoing from Lines. IEEE International Conference on Robotics and Automation (ICRA '00), Apr 2000, San Francisco, United States. pp.2070--2075, ⟨10.1109/ROBOT.2000.846334⟩. ⟨inria-00590129⟩