#### DMCA

## 2 1/2 D Visual servoing with respect to unknown objects through a new estimation scheme of camera displacement (2000)

### Cached

### Download Links

- [www.irisa.fr]
- [ftp-sop.inria.fr]
- [www-sop.inria.fr]
- DBLP

### Other Repositories/Bibliography

Venue: | International Journal of Computer Vision |

Citations: | 86 - 19 self |

### Citations

1510 |
Three dimensional computer vision: A geometric viewpoint.
- Faugeras
- 1993
(Show Context)
Citation Context ...idean reconstruction up to a scalar factor. Such a reconstruction can be obtained from two images of an unknown object characterized by a set of points (assumed to be matched) (Jerian and Jain, 1991; =-=Faugeras, 1993-=-). In our case, the first image is the desired one (acquired at the desired robot position during an off-line learning step), while the second image is the current one (acquired at each iteration of t... |

838 | A tutorial on visual servo control
- Hutchinson, Hager, et al.
- 1996
(Show Context)
Citation Context ...hand visual servoing approaches, that is position-based and image-based visual servoings, need a strong a priori knowledge of the 3D model of the observed object (Weiss et al., 1987; Hashimoto, 1993; =-=Hutchinson et al., 1996-=-). On one hand, in position-based visual servoing, the features used as inputs of the control scheme are expressed in the 3D Cartesian space (Wilson et al., 1996). To compute such features, the pose o... |

783 |
A computer algorithm for reconstructing a scene from two projections”,Nature,
- Longuet-Higgins
- 1981
(Show Context)
Citation Context ...structure from motion problem. They are generally based on the computation of the fundamental matrix (Luong and Faugeras, 1996) if pixel image points coordinates are used, or of the essential matrix (=-=Longuet-Higgins, 1981-=-; Hartley, 1997) if normalized image points coordinates are used. However, the epipolar geometry degenerates in some cases (for example if the motion is a pure rotation or if the considered object is ... |

651 |
A new approach to visual servoing in robotics
- Espiau, Chaumette, et al.
- 1992
(Show Context)
Citation Context ...f a perfect geometric 3D model of the object. On the other hand, in image-based visual servoing, the visual features used as inputs of the control scheme are directly expressed in the 2D image space (=-=Espiau et al., 1992-=-). However, the internal part of the control scheme relies on an estimation or an approximation of the interaction matrix (also called image Jacobian). This matrix describes the relationship between t... |

401 | Determining the epipolar geometry and its uncertainty: A review - Zhang - 1998 |

396 | T.: Estimating Three Dimensional Motion Parameters of A Rigid Planar Patch - Tsai, Huang - 1981 |

320 | Estimation of Relative Camera Positions for Uncalibrated Cameras. - Hartley - 1992 |

277 | Robot Control: the Task Function Approach. - Samson, Borgne, et al. - 1991 |

272 | The Fundamental matrix: theory, algorithms, and stability analysis”
- Luong, Faugeras
- 1996
(Show Context)
Citation Context ...se as possible to the video rate). Several methods were proposed to linearly solve the motion and structure from motion problem. They are generally based on the computation of the fundamental matrix (=-=Luong and Faugeras, 1996-=-) if pixel image points coordinates are used, or of the essential matrix (Longuet-Higgins, 1981; Hartley, 1997) if normalized image points coordinates are used. However, the epipolar geometry degenera... |

257 | Model-Based Object Pose in 25 Lines of Code,” - DeMenthon, Davis - 1992 |

208 | In defense of the eight-point algorithm.
- Hartley
- 1997
(Show Context)
Citation Context ...roblem. They are generally based on the computation of the fundamental matrix (Luong and Faugeras, 1996) if pixel image points coordinates are used, or of the essential matrix (Longuet-Higgins, 1981; =-=Hartley, 1997-=-) if normalized image points coordinates are used. However, the epipolar geometry degenerates in some cases (for example if the motion is a pure rotation or if the considered object is planar (Longuet... |

194 | Potential problems of stability and convergence in image-based and position-based visual servoing",
- Chaumette
- 1998
(Show Context)
Citation Context ...e. However, it is unfortunately impossible to demonstrate and to ensure its stability. In this paper, we present how the 2 1/2 D visual servoing scheme we have recently developed (Malis,80 Malis and =-=Chaumette 1998-=-; Malis et al., 1999), can be used with unmodeled objects. As will be detailed later, this scheme does not necessitate any 3D knowledge of the considered object, which increases the versatility and th... |

187 |
Motion and structure from motion in a piecewise planar environment. Rapport de recherche 856
- Faugeras, Lustman
- 1988
(Show Context)
Citation Context ...e degenerate configurations is thus particularly important in visual servoing. The motion and structure can also be estimated from an homography matrix related to a virtual plane attached the object (=-=Faugeras and Lustman, 1988-=-; Zhang and Hanson, 1995). The homography matrix may be estimated jointly to the epipole using, for example, the “virtual parallax algorithm” (VP) (Boufama and Mohr, 1995). However, we will see that t... |

178 |
Dynamic sensor-based control of robots with visual feedback.
- Weiss, Sanderson, et al.
- 1987
(Show Context)
Citation Context ...aphy 1. Introduction Standard eye-in-hand visual servoing approaches, that is position-based and image-based visual servoings, need a strong a priori knowledge of the 3D model of the observed object (=-=Weiss et al., 1987-=-; Hashimoto, 1993; Hutchinson et al., 1996). On one hand, in position-based visual servoing, the features used as inputs of the control scheme are expressed in the 3D Cartesian space (Wilson et al., 1... |

160 |
Relative end-effector control using cartesian position-based visual servoing,”
- Wilson, Hulls, et al.
- 1996
(Show Context)
Citation Context ...iss et al., 1987; Hashimoto, 1993; Hutchinson et al., 1996). On one hand, in position-based visual servoing, the features used as inputs of the control scheme are expressed in the 3D Cartesian space (=-=Wilson et al., 1996-=-). To compute such features, the pose of the object with respect to the camera is estimated at each iteration of the control law. Numerous methods exist to recover the pose of an object (see Dementhon... |

150 | defense of the eight-point algorithm - In - 1997 |

102 | Visual homing: Surfing on the epipoles. - Basri, Rivlin, et al. - 1999 |

96 | Robust Recovery of the Epipolar Geometry for an Uncalibrated Stereo Rig,”
- Deriche, Luong
- 1994
(Show Context)
Citation Context ...urthermore, we can note that this method does not take into account the rank 2 constraint on the fundamental matrix. This constraint is generally introduced a posteriori using a non-linear algorithm (=-=Deriche et al., 1994-=-; Luong and Faugeras, 1996). Since the aim of this paper is to focus on linear algorithms, the non-linear criteria are not detailed here. 3.2.2. The Virtual Parallax Algorithm. To simplify the computa... |

94 | Versatile visual servoing without knowledge of true jacobian,”
- Hosoda, Asada
- 1994
(Show Context)
Citation Context ...f the same 3D parameters. Another method in image-based visual servoing consists in numerically estimating the coefficients of the interaction matrix, without taking into account its analytical form (=-=Hosoda and Asada, 1994-=-; Jgersand et al., 1997). Contrarily to the previous ones, this method does not need any 3D a priori knowledge. However, it is unfortunately impossible to demonstrate and to ensure its stability. In t... |

82 |
Visual Servoing : Real Time Control of Robot Manipulators Based on Visual Sensory Feedback
- Hashimoto
- 1993
(Show Context)
Citation Context ... Standard eye-in-hand visual servoing approaches, that is position-based and image-based visual servoings, need a strong a priori knowledge of the 3D model of the observed object (Weiss et al., 1987; =-=Hashimoto, 1993-=-; Hutchinson et al., 1996). On one hand, in position-based visual servoing, the features used as inputs of the control scheme are expressed in the 3D Cartesian space (Wilson et al., 1996). To compute ... |

72 |
Effect of camera calibration errors on visual servoing in robotics.
- Espiau
- 1993
(Show Context)
Citation Context ... strong coupling in the coefficients of the interaction matrix. Finally, even if imagebased visual servoing is known to be very robust in practice with respect to camera and robot calibration errors (=-=Espiau, 1993-=-), it is in general impossible to exhibit exploitable analytical stability conditions. As already described in Malis et al. (1999) which was devoted to the automatic control part of our scheme, 21/2 D... |

69 |
Some properties of the E matrix in two-view motion estimation”,
- Huang, Faugeras
- 1989
(Show Context)
Citation Context ...h (in meters), ku et kv are the magnifications respectively in the ⃗u and ⃗v direction (in pixels/meters), and θ is the angle between these axes. Matrix E must satisfy the Huang-Faugeras constraints (=-=Huang and Faugeras, 1989-=-): σ1 = σ2 and σ3 = 0 (where σ1, σ2 and σ3 are the singular values of E). Indeed, E can be also written as the product of a skew-symmetric matrix and a rotation matrix: E = [t]×R (20) where rotation m... |

60 | Experimental evaluation of uncalibrated visual servoing for precision manipulation,
- Jägersand, Fuentes, et al.
- 1997
(Show Context)
Citation Context .... Another method in image-based visual servoing consists in numerically estimating the coefficients of the interaction matrix, without taking into account its analytical form (Hosoda and Asada, 1994; =-=Jgersand et al., 1997-=-). Contrarily to the previous ones, this method does not need any 3D a priori knowledge. However, it is unfortunately impossible to demonstrate and to ensure its stability. In this paper, we present h... |

58 | Maintaining Multiple Motion Model Hypotheses through Many Views to Recover Matching and Structure,” - Torr, FitzGibbon, et al. - 1998 |

44 | From reference frames to reference planes: multi-view parallax geometry and applications - Irani, Anandan, et al. - 1998 |

43 | Epipole and fundamental matrix estimation using virtual parallax.”
- Boufama, Mohr
- 1995
(Show Context)
Citation Context ...lane attached the object (Faugeras and Lustman, 1988; Zhang and Hanson, 1995). The homography matrix may be estimated jointly to the epipole using, for example, the “virtual parallax algorithm” (VP) (=-=Boufama and Mohr, 1995-=-). However, we will see that the epipole estimation is unnecessary for the homography estimation. The number of unknowns using the VP algorithm is thus not minimal if we are only interested in the est... |

42 | Scaled euclidean 3d reconstruction based on externally uncalibrated cameras,”
- Zhang, Hanson
- 1995
(Show Context)
Citation Context ...is thus particularly important in visual servoing. The motion and structure can also be estimated from an homography matrix related to a virtual plane attached the object (Faugeras and Lustman, 1988; =-=Zhang and Hanson, 1995-=-). The homography matrix may be estimated jointly to the epipole using, for example, the “virtual parallax algorithm” (VP) (Boufama and Mohr, 1995). However, we will see that the epipole estimation is... |

34 | Duality, Rigidity and Planar Parallax. - Criminisi, Reid, et al. - 1998 |

34 |
The reconstruction of a scene from two projections—Configurations that defeat the 8-point algorithm
- Longuet-Higgins
- 1984
(Show Context)
Citation Context ...y, 1997) if normalized image points coordinates are used. However, the epipolar geometry degenerates in some cases (for example if the motion is a pure rotation or if the considered object is planar (=-=Longuet-Higgins, 1984-=-)). If such degenerate configurations are not detected, the estimation of motion and structure will be completely unstable in their neighbourhood, which will induce an unstable and thus unsatisfactory... |

26 | Contributions à la modélisation et à la commande en asservissement visuel - Malis - 1998 |

21 | Structure from motion: a critical analysis of methods - Jerian, Jain - 1991 |

8 |
Structure from motion-a critical analysis of methods
- Jerian, Jain
- 1991
(Show Context)
Citation Context ...determined from an Euclidean reconstruction up to a scalar factor. Such a reconstruction can be obtained from two images of an unknown object characterized by a set of points (assumed to be matched) (=-=Jerian and Jain, 1991-=-; Faugeras, 1993). In our case, the first image is the desired one (acquired at the desired robot position during an off-line learning step), while the second image is the current one (acquired at eac... |

8 | Relative end-eector control using Cartesian position based visual servoing. Extended Visual Servoing 9 - Wilson, Hulls, et al. - 1996 |

5 | Stereo vision with the use of a virtual plane in the space - Couapel, Bainian - 1995 |

2 | Visual homing: Sur on the epipoles - Basri, Rivlin, et al. - 1998 |