Visual Sevoing from Lines
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 ...
| Authors | Nicolas Andreff, Bernard Espiau, Radu Horaud |
|---|---|
| Primary category | cs.RO |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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