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The method we propose simpliies the practical procedure for hand-eye calibration. Indeed, no more calibration jig is needed and small calibration motions can be used. Without calibration jig, camera motions are computed, up to an unknown scale factor, through structure-from-motion algorithms rather than pose estimation. 1 The unknown scale factor is then(More)
An original concept for computing instantaneous 3D pose and 3D velocity of fast moving objects using a single view is proposed, implemented and validated. It takes advantage of the image deformations induced by rolling shutter in CMOS image sensors. First of all, after analysing the rolling shutter phenomenon, we introduce an original model of the image(More)
In this article, a review on parallel kinematic machine dynamic control is performed. It is shown that the classical control strategies from serial robotics generally used for parallel kinematic machine have to be thought again. Indeed, it is first shown that the joint space control is not relevant for these mechanisms for several reasons such as mechanical(More)
An original method for computing instantaneous 3D pose and velocity of fast moving objects using a single view is presented. It exploits image deformations induced by rolling shutter in CMOS image sensors. First of all, a general perspective projection model of a moving 3D point is presented. A solution for the pose and velocity recovery problem is then(More)
—In this paper, a novel approach is proposed for the kinematic calibration of parallel mechanisms with linear actua-tors at the base. The originality of the approach lies in the observation of the mechanism legs with a camera, without any mechanism modification. The calibration can hence be achieved online, as no calibration device is linked to the(More)
— In this paper, an original approach is proposed for the kinematic calibration of parallel mechanisms. The originality lies in the use of vision to get information on all parts of the mechanism, i.e. its end-effector as well as its legs. Metrological redundancy is therefore maximized to improve the calibration efficiency. The approach is implemented for(More)
— This paper presents a novel approach for vision-based control of the end-effector of parallel mechanisms. It is based on the metrological redundancy paradigm, which simplifies their kinematic models by introducing additional proprioceptive sensors. By observing the mechanism legs, vision replaces advantageously these sensors by delivering, in a Cartesian(More)
— Motivated by the growing interest for omnidirec-tional sensors on robotic applications and particularly on vision-based control, we present a new framework to handle in a visual servoing scheme the projection of line features into the image plane of a central catadioptric camera. As it is well known, the projection of a 3D line in the image plane of a(More)