loading
Documents

Research.Publish.Connect.

Paper

Paper Unlock

Authors: C. Pérez 1 ; N. García-Aracil 1 ; J. M. Azorín 1 ; J. M. Sabater 1 ; L. Navarro 2 and R. Saltarén 3

Affiliations: 1 Universidad Politécnica de Madrid, Spain ; 2 Universidad Miguel Hernández, Spain ; 3 Universidad Polite´cnica de Madrid, Spain

ISBN: 972-8865-30-9

Keyword(s): Visual servoing, mobile robot navigation, continuous path control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications ; Vision, Recognition and Reconstruction

Abstract: The new contribution of this paper is the definition of the visual navigation as a global visual control task which implies continuity problems produced by the changes of visibility of image features during the navigation. A new smooth task function is proposed and a continuous control law is obtained by imposing the exponential decrease of this task function to zero. Finally, the visual servoing techniques used to carry out the navigation are the image-based and the intrinsic-free approaches. Both are independent of calibration errors which is very useful since it is so difficult to get a good calibration in this kind of systems. Also, the second technique allows us to control the camera in spite of the variation of its intrinsic parameters. So, it is possible to modify the zoom of the camera, for instance to get more details, and drive the camera to its reference position at the same time. An exhaustive number of experiments using virtual reality worlds to simulate a typical indoo r environment have been carried out. (More)

PDF ImageFull Text

Download
Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.85.143.239

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Pérez C.; García-Aracil N.; M. Azorín J.; M. Sabater J.; Navarro L.; Saltarén R. and (2005). IMAGE-BASED AND INTRINSIC-FREE VISUAL NAVIGATION OF A MOBILE ROBOT DEFINED AS A GLOBAL VISUAL SERVOING TASK.In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 189-195. DOI: 10.5220/0001155301890195

@conference{icinco05,
author={C. Pérez and N. García{-}Aracil and J. {M. Azorín} and J. {M. Sabater} and L. Navarro and R. Saltarén},
title={IMAGE-BASED AND INTRINSIC-FREE VISUAL NAVIGATION OF A MOBILE ROBOT DEFINED AS A GLOBAL VISUAL SERVOING TASK},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={189-195},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001155301890195},
isbn={972-8865-30-9},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - IMAGE-BASED AND INTRINSIC-FREE VISUAL NAVIGATION OF A MOBILE ROBOT DEFINED AS A GLOBAL VISUAL SERVOING TASK
SN - 972-8865-30-9
AU - Pérez, C.
AU - García-Aracil, N.
AU - M. Azorín, J.
AU - M. Sabater, J.
AU - Navarro, L.
AU - Saltarén, R.
PY - 2005
SP - 189
EP - 195
DO - 10.5220/0001155301890195

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.