Abstract This paper presents an image-based visual servoing strategy for holonomic mobile robots equipped with a catadioptric camera. This kind of vision sensor combines lens and mirrors to enlarge the field of view. The proposed visual servoing is based on the auto-epipolar property, a special configuration which occurs when the desired and the current views undergo a pure translation. This occurrence is detectable from a set of image points, observing when the so-called bi-conics have a common intersection. The proposed visual servoing is divided in two sequential steps. Lyapunov-based stability demonstrates the parametric robustness of the proposed method. Experimental results are presented to show the applicability of our strategy in a real context.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera




    Publication date :

    2006-01-01


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Visual servoing of mobile robots using non-central catadioptric cameras

    Aliakbarpour, Hadi / Tahri, Omar / Araújo, Helder | BASE | 2014

    Free access

    Visual Servoing/Tracking Using Central Catadioptric Images

    Barreto, João P. / Martin, Frédérick / Horaud, Radu | Springer Verlag | 2003


    Image Based Visual Servoing for Omnidirectional Wheeled Mobile Robots in Voltage Mode

    Armando Saenz / Victor Santibañez / Eusebio Bugarin | BASE | 2018

    Free access

    Convoying of Heterogeneous Mobile Robots using Visual Servoing

    Marapane, S. B. / Trivedi, M. M. / Holder, M. | British Library Conference Proceedings | 1994


    Visual Servoing of Legged Robots

    Echegoyen, Z. | British Library Online Contents | 2012