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IJRR
2008

Image-based Visual Servoing with Central Catadioptric Cameras

9 years 10 months ago
Image-based Visual Servoing with Central Catadioptric Cameras
: This paper presents an image-based visual servoing strategy for the autonomous navigation of a mobile holonomic robot from a current toward a desired pose, specified only through a current and a desired image acquired by the on-board central catadioptric camera. This kind of vision sensor combines lenses and mirrors to enlarge the field of view. The proposed visual servoing does not need any metrical information about the 3-D viewed scene and is mainly based on a novel geometrical property, the auto-epipolar condition, which occurs when two catadioptric views (current and desired) undergo a pure translation. This condition can be detected in real-time in the image domain observing when a set of so-called disparity-conics have a common intersection. The auto-epipolar condition and the pixel distances between current and target image features are used to design the image-based control law. Lyapunov-based stability analysis and simulation results demonstrate the parametric robustness of...
Gian Luca Mariottini, Domenico Prattichizzo
Added 12 Dec 2010
Updated 12 Dec 2010
Type Journal
Year 2008
Where IJRR
Authors Gian Luca Mariottini, Domenico Prattichizzo
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