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Decoupled image-based visual servoing for cameras obeying the unified projection model

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Academic year: 2021

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Figure

Fig. 1. (Left) Catadioptric camera and mirror geometry. (Right) Unified image formation.
Fig. 2. Triangle projection onto the unit sphere.
Fig. 3. Results obtained for s = ∆. (a) Variation with respect to depth, (b) variation with respect to x-axis translation, and (c) variation with respect to y-axis translation
Fig. 6. Results obtained using I 1 . (a) Feature errors and (b) velocities (in meters per second); results obtained usingI t
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