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|Title:||Visual Servoing on the Sphere Using Conformal Geometric Algebra|
|Abstract:||This paper deals with a visual servoing scheme, which uses a paracatadioptric sensor as visual input. The paracatadioptric sensor provides a wide field of view while maintaining the single center of projection, which is a desirable property of these sensors. The projection induced by this sensor is nonlinear. In this paper a linear model of this projection is presented, the model is developed using the conformal geometric algebra framework which allows to represent nonlinear conformal transformations using a special type of multivectors called versors. With this model we relate the feature time variation with the camera velocity to design a velocity controller used in a visual servoing task. © 2012 Springer Basel AG.|
|Appears in Collections:||Producción científica UdeG|
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