GEOMETRIC CONTROL OF A BINOCULAR HEAD

Eduardo Bayro-Corrochano, Julio Zamora-Esquivel

2007

Abstract

In this paper the authors use geometric algebra to formulate the differential kinematics of a binocular robotic head and reformulate the interaction matrix in terms of the lines that represent the principal axes of the camera. This matrix relates the velocities of 3D objects and the velocities of their images in the stereo images. Our main objective is the formulation of a kinematic control law in order to close the loop between perception and action, which allows to perform a smooth visual tracking.

Paper Citation

in Harvard Style

Bayro-Corrochano E. and Zamora-Esquivel J. (2007). GEOMETRIC CONTROL OF A BINOCULAR HEAD . In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 183-188. DOI: 10.5220/0001628001830188

in Bibtex Style

@conference{icinco07,
author={Eduardo Bayro-Corrochano and Julio Zamora-Esquivel},
title={GEOMETRIC CONTROL OF A BINOCULAR HEAD},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={183-188},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001628001830188},
isbn={978-972-8865-83-2},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - GEOMETRIC CONTROL OF A BINOCULAR HEAD
SN - 978-972-8865-83-2
AU - Bayro-Corrochano E.
AU - Zamora-Esquivel J.
PY - 2007
SP - 183
EP - 188
DO - 10.5220/0001628001830188