Non-central catadioptric cameras visual servoing for mobile robots using a radial camera model

Omar Tahri, Helder Sabino de Araújo
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引用次数: 5

Abstract

Catadioptric cameras combine conventional cameras and mirrors to create omnidirectional sensors providing 360° panoramic views of a scene. Modeling such cameras has been subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in very few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called the radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirror shapes that are symmetric around the optical axis. In this case we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras, new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. Several simulation results are provided to validate the effectiveness of such features.
基于径向相机模型的移动机器人非中心反射相机视觉伺服
反射式相机结合了传统的相机和反射镜,创造出全方位的传感器,提供360°的场景全景。这样的相机建模一直是计算机视觉社区重要研究兴趣的主题,导致对图像属性的更深入理解,以及针对不同类型配置的不同模型。使用反射相机的视觉伺服应用基本上是使用中央相机和相应的统一投影模型。到目前为止,只在极少数情况下使用了更一般的模型。在本文中,我们用所谓的径向模型来解决视觉伺服问题。径向模型可以应用于许多相机配置,特别是非中心反射系统的镜面形状是围绕光轴对称的。在这种情况下,我们表明径向模型可以与非中心反射相机一起使用,以实现移动机器人的有效基于图像的视觉伺服(IBVS)。利用该模型,该模型适用于大型反射相机,提出了新的视觉特征来控制移动机器人在平面上运动的自由度。仿真结果验证了这些特征的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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