Nonholonomic Epipolar Visual Servoing
G. Lopez-Nicolas, C. Sagues, J.J. Guerrero, Danica Kragic and Patric Jensfelt
Abstract:
A significant amount of work has been reported in the area of
visual servoing during the last decade. However, most of the
contributions are applied in cases of holonomic robots. More
recently, the use of visual feedback for control of nonholonomic
vehicles has been reported. Some of the examples are docking and
parallel parking maneuvers of cars or vision-based stabilization
of a mobile manipulator to a desired pose with respect to a target
of interest. Still, many of the approaches are mostly interested
in the control part of visual servoing loop considering very
simple vision algorithms based on artificial markers. In this
paper, we present an approach for nonholonomic visual servoing
based on epipolar geometry. The method facilitates a classical
teach-by-showing approach where a reference image is used to
define the desired pose (position and orientation) of the robot.
The major contribution of the paper is the design of the control
law that considers nonholonomic constraints of the robot as well
as the robust feature detection and matching process based on
scale and rotation invariant image features. An extensive
experimental evaluation has been performed in a realistic indoor
setting and the results are summarized in the paper.
BibTeX Entry:
@InProceedings{LopezNicolas06a,
author = {G. L\'{o}pez-Nicol\'{a}s and C. Sag\"{u}\'{e}s and J.J. Guerrero and D. Kragic and P. Jensfelt},
title = {Nonholonomic Epipolar Visual Servoing},
booktitle = {Proc.~of the IEEE International Conference on Robotics and Automation (ICRA'06)},
year = 2006
}
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