TY - GEN
T1 - Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system
AU - Fomena, Romeo Tatsambon
AU - Yoon, Han Ul
AU - Cherubini, Andrea
AU - Chaumette, François
AU - Hutchinson, Seth
PY - 2009/12/11
Y1 - 2009/12/11
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=76249132849&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249132849&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354130
DO - 10.1109/IROS.2009.5354130
M3 - Conference contribution
AN - SCOPUS:76249132849
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 5432
EP - 5437
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -