Path Planning for image based control with omnidirectional cameras

Image-based servoing is a local control solution, it requires thus the definition of intermediate subgoals in the sensor space when the robot initial position is far away from the desired one. This issue is crucial when using omnidirectional cameras since very large motions can be achieved. This paper addresses the problem of generating smooth trajectories in the image space of the entire class of central cameras (including conventional perspective cameras). The model of the observed target is assumed to be unknown. First geometrical relationships between imaged points and lines in two views are exploited to estimate a generic homography matrix. A closed-form homography path between given start and end-points is then derived and used to generate the trajectories of image features. Results obtained with real data are finally presented