Experiments in Robot Control from Uncalibrated Overhead Imagery

13 years 10 months ago

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In this work we address the problem of controlling a ground robot based on aerial image feedback in real time. We present an analysis of the relationship between a robot’s ground velocity and the velocity of it’s projection in the image. We also show how a subset of the parameters of the homography relating the ground plane and the image plane can be extracted from motion correspondences and subsequently used in a sample control task. Further, we extend our analysis to the case of robot control from a moving overhead camera using image feedback. The experimental implementation and validation of the schemes we have presented is one of the central goals of this paper. Overhead Camera Image Plane

Rahul Rao, Camillo J. Taylor, Vijay Kumar

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