Visual Servoing Based on Structure From Controlled Motion or on Robust Statistics

@article{Collewet2008VisualSB,
  title={Visual Servoing Based on Structure From Controlled Motion or on Robust Statistics},
  author={Christophe Collewet and François Chaumette},
  journal={IEEE Transactions on Robotics},
  year={2008},
  volume={24},
  pages={318-330}
}
This paper focuses on the way to achieve accurate visual servoing tasks when the shape of the object being observed as well as the desired image are unknown. More precisely, we want to control the camera orientation with respect to the tangent plane at a certain object point corresponding to the center of a region of interest. We also want to observe this point at the principal point to fulfil a fixation task. A 3-D reconstruction phase must, therefore, be performed during the camera motion… CONTINUE READING
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Apports de la vision dynamique en asservissement visuel

  • A. Alhaj
  • Ph.D. dissertation, Univ. Rennes I,
  • 2004
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