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.
|Titolo:||Image-based visual servoing for mobile robots with catadioptric camera|
|Citazione:||Mariottini, G.L., Prattichizzo, D., & Cerbella, A. (2006). Image-based visual servoing for mobile robots with catadioptric camera. In EUROPEAN ROBOTICS SYMPOSIUM 2006-Springer Tracts in Advanced Robotics (pp. 159-170). BERLIN HEIDELBERG : Springer.|
|Appare nelle tipologie:||2.1 Contributo in volume (Capitolo o Saggio)|
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