Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system

— A catadioptric vision system combines a camera and a mirror to achieve a wide field of view imaging system. This type of vision system has many potential applications in mobile robotics. This paper is concerned with the design of a robust image-based control scheme using a catadioptric vision system mounted on a mobile robot. We exploit the fact that the decoupling property contributes to the robustness of a control method. More precisely, from the image of a point, we propose a minimal and decoupled set of features measurable on any catadioptric vision system. Using the minimal set, a classical control method is proved to be robust in the presence of point range errors. Finally, experimental results with a coarsely calibrated mobile robot validate the robustness of the new decoupled scheme.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Romeo Tatsambon Fomena, Han Ul Yoon, Andrea Cherubini, François Chaumette, Seth Hutchinson
• Keywords: Catadioptric Vision, Control Method, IROS 2009, Mobile Robot, Robotics