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IROS
2009
IEEE

Visual navigation with a time-independent varying reference

9 years 2 days ago
Visual navigation with a time-independent varying reference
— In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect to a fixed one, in the image, as well as in the 3D state space.
Andrea Cherubini, François Chaumette
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Andrea Cherubini, François Chaumette
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