Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera

2006 ◽  
pp. 159-170
Author(s):  
Gian Luca Mariottini ◽  
Domenico Prattichizzo ◽  
Andrea Cerbella
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Catadioptric Camera

scholarly journals Self-Localization of Mobile Robots Using a Single Catadioptric Camera with Line Feature Extraction

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4719
Author(s):  
Huei-Yung Lin ◽  
Yuan-Chi Chung ◽  
Ming-Liang Wang
Keyword(s):  
Mobile Robots ◽  
Ground Plane ◽  
Feature Correspondence ◽  
Projection Model ◽  
3D Space ◽  
Base Points ◽  
Real Scene ◽  
Correspondence Matching ◽  
Mobile Robot Localization ◽  
Catadioptric Camera

This paper presents a novel self-localization technique for mobile robots using a central catadioptric camera. A unified sphere model for the image projection is derived by the catadioptric camera calibration. The geometric property of the camera projection model is utilized to obtain the intersections of the vertical lines and ground plane in the scene. Different from the conventional stereo vision techniques, the feature points are projected onto a known planar surface, and the plane equation is used for depth computation. The 3D coordinates of the base points on the ground are calculated using the consecutive image frames. The derivation of motion trajectory is then carried out based on the computation of rotation and translation between the robot positions. We develop an algorithm for feature correspondence matching based on the invariability of the structure in the 3D space. The experimental results obtained using the real scene images have demonstrated the feasibility of the proposed method for mobile robot localization applications.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Model-Free Unified Tracking and Regulation Visual Servoing of Wheeled Mobile Robots

2016 ◽  
Vol 24 (4) ◽  
pp. 1328-1339 ◽  
Author(s):  
Baoquan Li ◽  
Yongchun Fang ◽  
Guoqiang Hu ◽  
Xuebo Zhang
Keyword(s):  
Mobile Robots ◽  
Visual Servoing ◽  
Wheeled Mobile Robots ◽  
Model Free
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