Homography based visual servoing with omnidirectional cameras: the cases of points and lines

International audienceThis paper presents homography-based visual servoing scheme valid for the entire class of central catadioptriccameras (including conventional perspective cameras). First geometrical relationships between imaged points and lines intwoviews are exploited to estimate a generic homography matrix from which a partial Euclidean reconstruction is obtained. The informations extracted from the homography and imaged points and lines are then used to design hybrid control laws