Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system

  • Fomena R
  • Yoon H
  • Cherubini A
 et al. 
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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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  • Romeo Tatsambon Fomena

  • Han Ul Yoon

  • Andrea Cherubini

  • François Chaumette

  • Seth Hutchinson

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