Shape visual servoing of a tether cable from parabolic features
Lev Smolentsev,Alexandre Krupa,François Chaumette,Lev Smolentsev,Alexandre Krupa,François Chaumette
In this paper we propose a visual servoing approach that controls the deformation of a suspended tether cable subject to gravity from visual data provided by a RGB-D camera. The cable shape is modelled with a parabolic curve together with the orientation of the plane containing the tether. The visual features considered are the parabolic coefficients and the yaw angle of that plane. We derive the ...
