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Asservissement visuel à partir de droites et auto-étalonnage pince-caméra

Nicolas Andreff 1, 2
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
2 MOVI - Modeling, localization, recognition and interpretation in computer vision
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes, CNRS - Centre National de la Recherche Scientifique : FR71
Abstract : Using lines in visual servoing yields, contrarily to the case of points, a representation choice. We solved it with the use of Plücker coordinates of a line. This allowed us to introduce the notion of binormalized Plücker coordinates alignment of lines. Using the latter coordinates, we derive two similar control laws that realize the new alignment, are explicit and partially decoupled in rotation and translation, mix 2D and 3D information, and finally do not require any depth estimation. We obtained convergence results for these laws and characterized their singularities. Then, we applied these laws to the positioning of a camera with respect to an orthognal trihedron. As this configuration is depth invariant, we added an uncalibrated laser beam to the camera. With a new, entirely linear formulation of the hand-eye calibration paradigm, we produced an algebraic analysis and a classification of the calibration motions. The classical procedures require the use of a calibration block and/or to interrupt the robot task. To release these constraints, we adapted our linear formulation to form a self-calibration scheme, which gets rid of the calibration block, and an on-line calibration method, which does not interrupt the task.
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Submitted on : Monday, January 26, 2004 - 2:52:35 PM
Last modification on : Thursday, February 11, 2021 - 2:40:03 PM
Long-term archiving on: : Friday, April 2, 2010 - 7:18:55 PM


  • HAL Id : tel-00004320, version 1




Nicolas Andreff. Asservissement visuel à partir de droites et auto-étalonnage pince-caméra. Interface homme-machine [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 1999. Français. ⟨tel-00004320⟩



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