Improvements on Visual Servoing From Spherical Targets Using a Spherical Projection Model

@article{Fomena2009ImprovementsOV,
  title={Improvements on Visual Servoing From Spherical Targets Using a Spherical Projection Model},
  author={Romeo Tatsambon Fomena and François Chaumette},
  journal={IEEE Transactions on Robotics},
  year={2009},
  volume={25},
  pages={874-886}
}
This paper is concerned with improvements to visual feature modeling using a spherical projection model. Three spherical targets are considered: a sphere, a sphere marked with a tangent vector to a point on its surface, and a sphere marked with two points on its surface. A new minimal and decoupled set of visual features is proposed for each target using any central catadioptric camera. Using the proposed set for a sphere, a classical control law is proved to be globally asymptotically stable… CONTINUE READING
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