This paper proposes a path planning visual servoing strategy for a class of cameras that includes conventional perspective cameras, fisheye cameras and catadioptric cameras as special cases. Specifically, these cameras are modeled by adopting a unified model recently proposed in the literature and the strategy consists of designing image trajectories for eye-in-hand robotic systems that allow the robot to reach a desired location while satisfying typical visual servoing constraints. To this end, the proposed strategy introduces the projection of the available image features onto a virtual plane and the computation of a feasible image trajectory through polynomial programming. Then, the computed image trajectory is tracked by using an image-based visual servoing controller. Experimental results with a fisheye camera mounted on a 6-d.o.f. robot arm are presented in order to illustrate the proposed strategy. © 2012 Copyright Taylor & Francis and The Robotics Society of Japan. ; postprint


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    Title :

    Visual servoing path planning for cameras obeying the unified model


    Contributors:
    Shen, T (author) / Chesi, G (author)

    Publication date :

    2012-01-01


    Remarks:

    26



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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