Decoupled Visual Servoing from a set of points imaged by an omnidirectional camera

This paper presents a hybrid decoupled vision-based control scheme valid for the entire class of central catadioptric sensors (including conventional perspective cameras). First, we consider the structure from motion problem using imaged 3D points. Geometrical relationships are exploited to enable a partial Euclidean reconstruction by decoupling the interaction between translation and rotation components of a homography matrix. The information extracted from the homography are then used to design a control law which allow us to fully decouple rotational motions from translational motions. Real time experimental results using an eye-to-hand robotic system with a paracatadioptric camera are presented and confirm the validity of our approach.