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Abstract for malis_bmvc99

British Machine Vision Conference 1999

COLLINEATION ESTIMATION FROM TWO UNMATCHED VIEWS OF AN UNKNOWN PLANAR CONTOUR FOR VISUAL SERVOING.

G. Chesi, E. Malis and R. Cipolla

1999

In this paper we describe a method to compute the collineation matrix between two unmatched images of an unknown planar contour described using a B-spline snake. The two images of the contour are matched and the collineation matrix is used to servo a camera mounted on the robot end-effector using a 2 1/2 D visual servoing technique. The experimental results, obtained using common planar objects, show that our method give very good results and allow the robot end-effector to be positioned with a great precision.


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