Visual Sevoing from Lines

Abstract:In this work, we present a fundamentally new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations which allowed us to define a new representation, the so-called binormalized Plucker coordinates. They are particularly well suited to visual servoing. Indeed, they allow the definition of a proper image line alignment concept. The control law which realizes such an alignment has moreover several properties: partial decoupling between rotation and translation, analytical inversion of the motion equations and global asymptotic stability conditions. This control law was validated both in simulation and experimentally in the specific case of an orthogonal trihedron.

Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV)

arXiv:2610.18363 [cs.RO]

(or arXiv:2610.18363v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2610.18363 Focus to learn more arXiv-issued DOI via DataCite (pending registration)

International Journal of Robotics Research, 21(8), August 2002, pp. 679-699

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