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Article: Epipole-based visual servoing for mobile robots

TitleEpipole-based visual servoing for mobile robots
Authors
KeywordsEpipolar geometry
Mobile robot
Object profile
Visual servoing
Issue Date2006
PublisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713
Citation
Advanced Robotics, 2006, v. 20 n. 2, p. 255-280 How to Cite?
AbstractThis paper proposes a visual servoing algorithm for mobile robot navigation based on the epipolar geometry retrieved by object profiles. The main motivation for this approach is that for unstructured scenes the task of solving correspondences is definitely a harder task than contour detection. An unstructured three-dimensional (3-D) scene consists mainly of objects whose most important 2-D features are their apparent contours in the image plane. Apparent contours are used to estimate the positions of the epipoles and some special symmetry conditions whereby the visual servoing is able to steer the mobile robot to the desired position. © VSP and Robotics Society of Japan 2006.
Persistent Identifierhttp://hdl.handle.net/10722/73952
ISSN
2015 Impact Factor: 0.516
2015 SCImago Journal Rankings: 0.583
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_HK
dc.contributor.authorMariottini, GLen_HK
dc.contributor.authorPrattichizzo, Den_HK
dc.contributor.authorVicino, Aen_HK
dc.date.accessioned2010-09-06T06:56:21Z-
dc.date.available2010-09-06T06:56:21Z-
dc.date.issued2006en_HK
dc.identifier.citationAdvanced Robotics, 2006, v. 20 n. 2, p. 255-280en_HK
dc.identifier.issn0169-1864en_HK
dc.identifier.urihttp://hdl.handle.net/10722/73952-
dc.description.abstractThis paper proposes a visual servoing algorithm for mobile robot navigation based on the epipolar geometry retrieved by object profiles. The main motivation for this approach is that for unstructured scenes the task of solving correspondences is definitely a harder task than contour detection. An unstructured three-dimensional (3-D) scene consists mainly of objects whose most important 2-D features are their apparent contours in the image plane. Apparent contours are used to estimate the positions of the epipoles and some special symmetry conditions whereby the visual servoing is able to steer the mobile robot to the desired position. © VSP and Robotics Society of Japan 2006.en_HK
dc.languageengen_HK
dc.publisherV S P. The Journal's web site is located at http://www.brill.nl/default.aspx?partid=18&pid=9713en_HK
dc.relation.ispartofAdvanced Roboticsen_HK
dc.subjectEpipolar geometryen_HK
dc.subjectMobile roboten_HK
dc.subjectObject profileen_HK
dc.subjectVisual servoingen_HK
dc.titleEpipole-based visual servoing for mobile robotsen_HK
dc.typeArticleen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=0169-1864&volume=20&spage=255&epage=280&date=2006&atitle=Epipole-Based+Visual+Servoing+for+Mobile+Robotsen_HK
dc.identifier.emailChesi, G:chesi@eee.hku.hken_HK
dc.identifier.authorityChesi, G=rp00100en_HK
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-33645020025en_HK
dc.identifier.hkuros123161en_HK
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-33645020025&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.volume20en_HK
dc.identifier.issue2en_HK
dc.identifier.spage255en_HK
dc.identifier.epage280en_HK
dc.publisher.placeNetherlandsen_HK
dc.identifier.scopusauthoridChesi, G=7006328614en_HK
dc.identifier.scopusauthoridMariottini, GL=8526021700en_HK
dc.identifier.scopusauthoridPrattichizzo, D=7004048807en_HK
dc.identifier.scopusauthoridVicino, A=7006250298en_HK

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