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Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System

R. Tatsambon Fomena 1 H. Yoon 2 Andrea Cherubini 1 François Chaumette 1 S. Hutchinson 2
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 : 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.
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Submitted on : Friday, November 27, 2009 - 9:34:36 PM
Last modification on : Tuesday, October 19, 2021 - 11:58:47 PM
Long-term archiving on: : Thursday, June 17, 2010 - 10:36:22 PM


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  • HAL Id : inria-00436917, version 1


R. Tatsambon Fomena, H. Yoon, Andrea Cherubini, François Chaumette, S. Hutchinson. Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System. IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, 2009, St Louis, USA, United States. pp.5432-5437. ⟨inria-00436917⟩



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