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Catadioptric Visual Servoing From 3-D Straight Lines

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4 Author(s)
Hadj-Abdelkader, H. ; Lab. des Sci. et Mater. pour I''Electron. et d''Autom. (LASMEA), Blaise Pascal Univ., Aubiere ; Mezouar, Y. ; Martinet, P. ; Chaumette, F.

In this paper, we consider the problem of controlling a 6 DOF holonomic robot and a nonholonomic mobile robot from the projection of 3-D straight lines in the image plane of central catadioptric systems. A generic central catadioptric interaction matrix for the projection of 3-D straight lines is derived using an unifying imaging model valid for an entire class of cameras. This result is exploited to design an image-based control law that allows us to control the 6 DOF of a robotic arm. Then, the projected lines are exploited to control a nonholonomic robot. We show that as when considering a robotic arm, the control objectives are mainly based on catadioptric image feature and that local asymptotic convergence is guaranteed. Simulation results and real experiments with a 6 DOF eye-to-hand system and a mobile robot illustrate the control strategy.

Published in:

Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 3 )