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The International Journal of Robotics Research
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Visual Servoing from Lines

Nicolas Andreff

LaRAMA - UBP, Institut Français de Mécanique Avancée BP 265, 63175 Aubière Cedex, France, nicolas.andreff{at}ifma.fr

Bernard Espiau

INRIA Rhône-Alpes and GRAVIR-IMAG 655, av. de l'Europe, 38330 Montbonnot Saint Martin, France, bernard.espiau{at}inrialpes.fr

Radu Horaud

INRIA Rhône-Alpes and GRAVIR-IMAG 655, av. de l'Europe, 38330 Montbonnot Saint Martin, France, radu.horaud{at}inrialpes.fr

In this paper, we present a new approach to visual servoing using lines. It is based on a theoretical and geometrical study of the main line representations, which allows us to define a new representation, the so-called binormalized Plücker coordinates. These are particularly well suited for visual servoing. Indeed, they allow the definition of an image line alignment concept. Moreover, the control law which realizes such an alignment has 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.

Key Words: visual servoing • projective geometry • line representation • Plücker coordinates

The International Journal of Robotics Research, Vol. 21, No. 8, 679-699 (2002)
DOI: 10.1177/027836402761412430
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N. Andreff, T. Dallej, and P. Martinet
Image-based Visual Servoing of a Gough--Stewart Parallel Manipulator using Leg Observations
The International Journal of Robotics Research, July 1, 2007; 26(7): 677 - 687.
[Abstract] [PDF]