ICRA 2011 Paper Abstract


Paper TuA114.1

Becerra, Hector (Universidad de Zaragoza), Sagues, Carlos (University of Zaragoza)

Dynamic Pose-Estimation from the Epipolar Geometry for Visual Servoing of Mobile Robots

Scheduled for presentation during the Regular Sessions "Visual Navigation I" (TuA114), Tuesday, May 10, 2011, 08:20−08:35, Room 5J

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Visual Servoing, Visual Navigation, Omnidirectional Vision


In this paper, we propose to exploit the epipolar geometry for dynamic pose-estimation of mobile robots. This is performed using a filtering approach with measurements given by the epipoles. The contribution of the paper is a novel observability analysis using nonlinear and linear tools that leads to achieve an efficient position-based visual servoing (PBVS) approach. Additionally, the visibility constraint problem is solved for this type of approach by using any visual sensor obeying a central projection model. This scheme does not need a target model neither scene reconstruction nor the 3D structure. The effectiveness of the proposed estimation scheme is evaluated via simulations in servoing tasks including obstacles and using omnidirectional vision.



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