Visual Servoing and Pose Estimation with Cameras Obeying the Unified Model

  • Omar Tahri
  • Youcef Mezouar
  • François Chaumette
  • Helder Araujo
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 401)


In this chapter, both visual servoing and pose estimation from a set of points are dealt with. More precisely, a unique scheme based on the projection onto the unit sphere for cameras obeying the unified model is proposed. From the projection onto the surface of the unit sphere, new visual features based on invariants to rotations are proposed. It is shown that satisfactory results can be obtained using these features for visual servoing and pose estimation as well.


Unit Sphere Visual Feature Interaction Matrix Translational Velocity Feature Error 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer London 2010

Authors and Affiliations

  • Omar Tahri
    • 1
  • Youcef Mezouar
    • 2
  • François Chaumette
    • 3
  • Helder Araujo
    • 1
  1. 1.Institute for Systems and RoboticsCoimbraPortugal
  2. 2.LASMEAUniversity Blaise PascalAubiereFrance
  3. 3.INRIARennesFrance

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