mezouarTitle:

Visual Servoing From 3D Straight Lines With Central Catadioptric Cameras

Authors:

Youcef Mezouar:
LASMEA, 24 avenue des Landais, 63177 Aubière-France

Hicham Hadj Abdelkader:
LASMEA, 24 avenue des Landais, 63177 Aubière-France

Philippe Martinet:
LASMEA, 24 avenue des Landais, 63177 Aubière-France

François Chaumette:
IRISA Campus de Beaulieu, Rennes-France


Abstract:

In this paper we consider the problem of controlling the six degrees
of freedom of a manipulator using the projection of 3D lines in the
image plane of central catadioptric systems. Classical visual servoing
techniques make assumptions on the link between the initial, current
and desired images. They require correspondences between the visual
features extracted from the initial image with those obtained from the
desired one. These features are then tracked during the camera (and/or
the object) motion. If these steps fail the visually based robotic
task can not be achieved. Some methods has been proposed to resolve
this deficiency. However, such strategies are sometimes delicate to
adapt to generic setup. To overcome the visibility constraint visual
servoing applications can benefit from cameras with a wide field of
view. The image Jacobian linking the variation of visual observations
with respect to camera velocities is central to visual servoing
approaches. Its analytical form is available for some image features
(points, circles, lines, $\cdots$) in the case of conventional cameras
and for a set of image points in the case of central catadioptric
cameras. Nevertheless, most of the effort in visual servoing are
devoted to points, only few works have investigated the use of lines
in visual servoing with traditional cameras and none has explored the
case of omnidirectional cameras. The present paper is concerned with
the use of lines in omnidirectional image-based visual
servoing. Indeed when dealing with real environments (indoor or urban)
or industrial workpiece, the extraction and the tracking of straight
lines is natural. First a generic central catadioptric interaction
matrix for the projection of 3D straight lines is derived from the
projection model. Then an image-based control law is designed and
validated through simulation results.

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