Abstract
Abstract: Feature-based visual servo determines camera movement by comparing a current feature image and the goal feature image. This method does not require a geometric model of the object because it does not need a 3D information of the object. Therefore, it is robust to various disturbances. Various methods have been proposed. For example using a wide-angle lens enables the camera to capture the object in a wide range However, using a wide-angle lens in the conventional control law, the camera would conduct waste motion because of the peripheral distortion of the wide-angle lens. In addition, if the distortion is corrected, the wide-angle properties will be lost. This paper proposes a new Feature-based visual servoing control law by preserving wide-angle properties of super wide-angle lens.
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