Omnidirectional Vision-Based Control from Homography
Youcef Mezouar, Hicham Hadj, Philippe Martinet · 2007
In this paper hybrid vision-based control schemes valid for the entire class of central cameras was presented. Geometrical relationship between imaged points and lines was exploited to estimate a generic homography matrix from which partial Euclidean reconstruction can be obtained. The information extracted from the homography matrix were then used to design vision-based control laws. Results with simulated data confirmed the relevance. In future work, the robustness and stability analysis with respect to calibration errors must be studied.