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Conference papers

Visual navigation with a time-independent varying reference

Andrea Cherubini 1 François Chaumette 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : 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 tone, in the image, as well as in the 3D state space.
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Submitted on : Friday, November 27, 2009 - 3:23:46 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
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  • HAL Id : inria-00436703, version 1


Andrea Cherubini, François Chaumette. Visual navigation with a time-independent varying reference. IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, 2009, St Louis, USA, United States. pp.5968-5973. ⟨inria-00436703⟩



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