VISUAL SERVOING WITH A PAIR OF COAXIAL CIRCLES

An uncalibrated approach to visual servoing with respect to non planar targets modeled through a pair of coaxial circles plus one point is discussed. Full calibration data (fixed internal parameters) are obtained from two views, and used to recover Euclidean target structure and camera relative pose. Pose disambiguation is achieved without requiring any real third view of the target. The approach benefits of an off-line planning strategy by which the camera follows a 3D helicoidal path around the target axis. Simulations results demonstrate that the approach is robust with respect to a noisy calibration.