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Conference Paper: A visual servoing path-planning strategy for cameras obeying the unified model

TitleA visual servoing path-planning strategy for cameras obeying the unified model
Authors
Keywords3-D object reconstruction
Calibration error
Camera model
Camera pose estimation
Conventional camera
Issue Date2010
PublisherIEEE.
Citation
The 2010 IEEE International Symposium on Computer-Aided Control System Design (CACSD), Yokohama, Japan, 8-10 September 2010. In Proceedings of CACSD, 2010, p. 1795-1800 How to Cite?
AbstractRecently, a unified camera model has been introduced in visual control systems in order to describe through a unique mathematical model conventional perspective cameras, fisheye cameras, and catadioptric systems. In this paper, a path-planning strategy for visual servoing is proposed for any camera obeying this unified model. The proposed strategy is based on the projection onto a virtual plane of the available image projections. This has two benefits. First, it allows one to perform camera pose estimation and 3D object reconstruction by using methods for conventional camera that are not valid for other cameras. Second, it allows one to perform image pathplanning for multi-constraint satisfaction by using a simplified but equivalent projection model, that in this paper is addressed by introducing polynomial parametrizations of the rotation and translation. The planned image trajectory is hence tracked by using an IBVS controller. The proposed strategy is validated through simulations with image noise and calibration errors typical of real experiments. It is worth remarking that visual servoing path-planning for non conventional perspective cameras has not been proposed yet in the literature. © 2010 IEEE.
DescriptionPart of 2010 IEEE Multi-Conference on Systems and Control
Persistent Identifierhttp://hdl.handle.net/10722/135866
ISBN
References

 

DC FieldValueLanguage
dc.contributor.authorShen, TTen_HK
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorHung, YSen_HK
dc.date.accessioned2011-07-27T01:49:45Z-
dc.date.available2011-07-27T01:49:45Z-
dc.date.issued2010en_HK
dc.identifier.citationThe 2010 IEEE International Symposium on Computer-Aided Control System Design (CACSD), Yokohama, Japan, 8-10 September 2010. In Proceedings of CACSD, 2010, p. 1795-1800en_HK
dc.identifier.isbn978-1-4244-5355-9-
dc.identifier.urihttp://hdl.handle.net/10722/135866-
dc.descriptionPart of 2010 IEEE Multi-Conference on Systems and Control-
dc.description.abstractRecently, a unified camera model has been introduced in visual control systems in order to describe through a unique mathematical model conventional perspective cameras, fisheye cameras, and catadioptric systems. In this paper, a path-planning strategy for visual servoing is proposed for any camera obeying this unified model. The proposed strategy is based on the projection onto a virtual plane of the available image projections. This has two benefits. First, it allows one to perform camera pose estimation and 3D object reconstruction by using methods for conventional camera that are not valid for other cameras. Second, it allows one to perform image pathplanning for multi-constraint satisfaction by using a simplified but equivalent projection model, that in this paper is addressed by introducing polynomial parametrizations of the rotation and translation. The planned image trajectory is hence tracked by using an IBVS controller. The proposed strategy is validated through simulations with image noise and calibration errors typical of real experiments. It is worth remarking that visual servoing path-planning for non conventional perspective cameras has not been proposed yet in the literature. © 2010 IEEE.en_HK
dc.languageengen_US
dc.publisherIEEE.-
dc.relation.ispartofProceedings of the IEEE International Symposium on Computer-Aided Control System Designen_HK
dc.rightsProceedings of the IEEE International Symposium on Computer-Aided Control System Design. Copyright © IEEE.-
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.-
dc.subject3-D object reconstruction-
dc.subjectCalibration error-
dc.subjectCamera model-
dc.subjectCamera pose estimation-
dc.subjectConventional camera-
dc.titleA visual servoing path-planning strategy for cameras obeying the unified modelen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=978-1-4244-5355-9&volume=&spage=1795&epage=1800&date=2010&atitle=A+visual+servoing+path-planning+strategy+for+cameras+obeying+the+unified+model-
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.emailHung, YS:yshung@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.identifier.authorityHung, YS=rp00220en_HK
dc.description.naturepublished_or_final_version-
dc.identifier.doi10.1109/CACSD.2010.5612865en_HK
dc.identifier.scopuseid_2-s2.0-78649823852en_HK
dc.identifier.hkuros187540en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-78649823852&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.spage1795en_HK
dc.identifier.epage1800en_HK
dc.description.otherThe 2010 IEEE International Symposium on Computer-Aided Control System Design (CACSD), Yokohama, Japan, 8-10 September 2010. In Proceedings of CACSD, 2010, p. 1795-1800-
dc.identifier.scopusauthoridShen, TT=24832044500en_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridHung, YS=8091656200en_HK

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