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Conference Paper: A visual servoing algorithm based on epipolar geometry

TitleA visual servoing algorithm based on epipolar geometry
Authors
Issue Date2001
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2001, v. 1, p. 737-742 How to Cite?
AbstractA visual servoing algorithm for mobile robots is proposed. The main feature of the algorithm is that it exploits object profiles rather than solving correspondence problems using object features or texture. This property is crucial for mobile robot navigation in unstructured environments where the 3D scene exhibits only surfaces whose main features are their apparent contours. The framework is based on the epipolar geometry, which is recovered from object profiles and epipolar tangencies. Special symmetry conditions of epipoles are used to generate the mobile robot control law. For the sake of simplicity, mobile robot kinematics is assumed to be holonomic and the camera intrinsic parameters are assumed partially known. Such assumption can be relaxed to extend the application field of the approach.
Persistent Identifierhttp://hdl.handle.net/10722/158312
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorPrattichizzo, Den_US
dc.contributor.authorVicino, Aen_US
dc.date.accessioned2012-08-08T08:59:01Z-
dc.date.available2012-08-08T08:59:01Z-
dc.date.issued2001en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2001, v. 1, p. 737-742en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/158312-
dc.description.abstractA visual servoing algorithm for mobile robots is proposed. The main feature of the algorithm is that it exploits object profiles rather than solving correspondence problems using object features or texture. This property is crucial for mobile robot navigation in unstructured environments where the 3D scene exhibits only surfaces whose main features are their apparent contours. The framework is based on the epipolar geometry, which is recovered from object profiles and epipolar tangencies. Special symmetry conditions of epipoles are used to generate the mobile robot control law. For the sake of simplicity, mobile robot kinematics is assumed to be holonomic and the camera intrinsic parameters are assumed partially known. Such assumption can be relaxed to extend the application field of the approach.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleA visual servoing algorithm based on epipolar geometryen_US
dc.typeConference_Paperen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0034861235en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0034861235&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume1en_US
dc.identifier.spage737en_US
dc.identifier.epage742en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridPrattichizzo, D=7004048807en_US
dc.identifier.scopusauthoridVicino, A=7006250298en_US

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