A Visual Servoing Techinique based on Epipoles Motion Estimation

Visual Servoing Along Epipoles

An auto-epipolar strategy for mobile robot visual servoing

I. ABSTRACT A novel visual servoing method is presented. The algorithm works for both apparent contours and point features and does not require any information about the internal camera parameters. The proposed visual servoing is based on the epipolar geometry and exploits the autoepipolar property, a special configuration for the epipoles which occurs when the desired and current views undergo...

Epipole-based Visual Servoing Using Profiles

This paper proposes a visual servoing algorithm for mobile robot navigation based on object profiles which is alternative to approaches based on point correspondences. Motivation to this research is that for unstructured scenes the task of solving correspondences is definitely a harder task than contour detection. An unstructured 3D scene exhibits only surfaces whose main 2D features are their ...

Epipole-based visual servoing for mobile robots

This paper proposes a visual servoing algorithm for mobile robot navigation based on the epipolar geometry retrieved by object profiles. The main motivation for this approach is that for unstructured scenes the task of solving correspondences is definitely a harder task than contour detection. An unstructured three-dimensional (3-D) scene consists mainly of objects whose most important 2-D feat...

Feature tracking for visual servoing purposes

Object tracking is an important issue for research and application related to visual servoing and more generally for robot vision. In this paper, we address the problem of realizing visual servoing tasks on complex objects in real environments. We briefly present a set of tracking algorithms (2D features-based or motion-based tracking, 3D model-based tracking, . . . ) that have been used for te...