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Book Chapter
Active camera self-orientation using dynamic image parameters
Book Series
Lecture Notes in Computer Science
Publisher
Springer Berlin / Heidelberg
ISSN
0302-9743 (Print) 1611-3349 (Online)
Volume
Volume 801/1994
Book
Computer Vision — ECCV '94
DOI
10.1007/BFb0028329
Copyright
1994
ISBN
978-3-540-57957-1
DOI
10.1007/BFb0028339
Pages
110-116
Subject Collection
Computer Science
SpringerLink Date
Monday, April 10, 2006
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Active camera self-orientation using dynamic image parameters
V. Sundareswaran
1
, P. Bouthemy
1
and F. Chaumette
1
(1)
IRISA / INRIA Rennes, Campus de Beaulieu, 35042 Rennes Cedex, France
Abstract
We are interested in the realization of active visual tasks, and we propose an innovative visual servoing method using parameters obtained from visual motion processing. In particular, we consider the task of dynamically aligning the optical axis of a translating camera with its unknown direction of translation, by controlling the orientation of the camera. Parameters of the 2D affine motion model are used. We show experimental results of this method implemented on a six d.o.f. robot arm carrying a camera on its end-effector.
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