Robot Positioning using Camera-Space Manipulation with a Linear Camera Model

Rendon-Mancha J.M., García Romero M. A., Cárdenas Antonio, Lara Bruno, Gonzalez-Galván Emilio ,
IEEE Transactions on Robotics. (ISSN: 1042-296X), Vol 26(4), pp. 726-733 Aug. 2010., 2010.


This paper presents a new version of the camera-spacemanipulation 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