Decoupled Visual Servoing From a Set of Points Imaged by an Omnidirectional Camera

• A hybrid visual servoing scheme valid for the entire class of central camera is proposed.

• A fully decouple rotational motions from translational ones is obtained from the homography matrix.

• Real time experimental results show the validity of the proposed approach.

H. Hadj-Abdelkader*, Y. Mezouar*, and P. Martinet* # * LASMEA-UMR 6602 du CNRS # ISRC-Intelligent Systems Research Center 24, avenue des Landais Sungkyunkwan University 63177 Aubiere Cedex, France Suwan, South Korea

Desired image of the target and trajectories of four image points