Visual Servoing on the Sphere Using Conformal Geometric Algebra

dc.contributorLópez-Franco, C., Computer Science Department, University of Guadalajara, Guadalajara, Jalisco, México; Arana-Daniel, N., Computer Science Department, University of Guadalajara, Guadalajara, Jalisco, México; Alanis, A.Y., Computer Science Department, University of Guadalajara, Guadalajara, Jalisco, México
dc.creatorLopez-Franco, C.
dc.creatorArana-Daniel, N.
dc.creatorAlanis, A.Y.
dc.date.accessioned2015-09-15T19:18:22Z
dc.date.accessioned2022-11-02T14:15:12Z
dc.date.available2015-09-15T19:18:22Z
dc.date.available2022-11-02T14:15:12Z
dc.date.created2015-09-15T19:18:22Z
dc.date.issued2013
dc.identifierhttp://www.scopus.com/inward/record.url?eid=2-s2.0-84874213433&partnerID=40&md5=5789d27f1d02484c79261cf2ef17575d
dc.identifierhttp://hdl.handle.net/20.500.12104/45695
dc.identifier10.1007/s00006-012-0342-8
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/4994072
dc.description.abstractThis 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.
dc.relationScopus
dc.relationWOS
dc.relationAdvances in Applied Clifford Algebras
dc.relation23
dc.relation1
dc.relation125
dc.relation141
dc.titleVisual Servoing on the Sphere Using Conformal Geometric Algebra
dc.typeArticle


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