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Switching visual co...
Switching visual control based on epipoles for mobile robots
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Lopez-Nicolas, G. (författare)
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Sagues, C. (författare)
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Guerrero, J. J. (författare)
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- Kragic, Danica (författare)
- KTH,Centrum för Autonoma System, CAS
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- Jensfelt, Patric (författare)
- KTH,Centrum för Autonoma System, CAS,Datorseende och robotik, CVAP
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(creator_code:org_t)
- AMSTERDAM : Elsevier, 2008
- 2008
- Engelska.
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Ingår i: Robotics and Autonomous Systems. - AMSTERDAM : Elsevier. - 0921-8890 .- 1872-793X. ; 56:7, s. 592-603
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- In this paper, we present a Visual control approach consisting in a switching control scheme based on the epipolar geometry. The method facilitates a classical teach-by-showing approach where a reference image is used to control the robot to the desired pose (position and orientation). As a result of our proposal a mobile robot carries out a smooth trajectory towards the target and the epipolar geometry model is used through the whole motion. The control scheme developed considers the motion constraints of the mobile platform in a framework based on the epipolar geometry that does not rely on artificial markers or specific models of the environment. The proposed method is designed in order to cope with the degenerate estimation case of the epipolar geometry with short baseline. Experimental evaluation has been performed in realistic indoor and outdoor settings.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Nyckelord
- visual control
- the epipolar geometry
- mobile robot
- tracking
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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