| Volume 27 Issue 1 - Publication Date: 1 January 2008 |
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| Image-based Visual
Servoing with Central
Catadioptric Cameras |
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| Gian Luca Mariottini and Domenico Prattichizzo Dipartimento di Ingegneria dell’Informazione,
Università di Siena, Via Roma 56, 53100 Siena, Italy |
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| This paper presents an image-based visual servoing strategy for the
autonomous navigation of a mobile holonomic robot from a current
towards a desired pose, specified only through a current and a desired
image acquired by the on-board central catadioptric camera. This
kind of vision sensor combines lenses and mirrors to enlarge the field
of view. The proposed visual servoing does not require any metrical
information about the three-dimensional viewed scene and is mainly
based on a novel geometrical property, the auto-epipolar condition,
which occurs when two catadioptric views (current and desired) undergo
a pure translation. This condition can be detected in real time
in the image domain by observing when a set of so-called disparity
conics have a common intersection. The auto-epipolar condition and
the pixel distances between the current and target image features are
used to design the image-based control law. Lyapunov-based stability
analysis and simulation results demonstrate the parametric robustness
of the proposed method. Experimental results are presented to
show the applicability of our visual servoing in a real context. |
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| Multimedia Key |
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= Image |
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Example
1: Simulation: two-steps strategy. (25.7 MB) mpeg |
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Example
2: Simulation: one-step strategy. (25.6 MB) mpeg |
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Example
3: Experiment: two-steps strategy. (44.7 MB) mpeg |
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Example
4: Experiment: one-step strategy. (33.1 MB) mpeg |
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