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Robot Positioning Using Camera-Space Manipulation With a Linear Camera Model
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DOI：10.1109/TRO.2010.2050518.png)
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Abstract
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This paper presents a new version of the camera-space-manipulation method (CSM). The set of nonlinear view parameters of the classic CSM is replaced with a linear model. Simulations and experiments show a similar precision error for the two methods. However, the new approach is simpler to implement and is faster.
Keywords:
Camera matrix
camera-space manipulation (CSM)
pinhole camera model
robot control
vision-based control
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