Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system

Abstract

Abstract-A catadioptric vision system combines a camera and a mirror to achieve a wide field of view imaging system. This type of vision system has many potential applications in mobile robotics. This paper is concerned with the design of a robust image-based control scheme using a catadioptric vision system mounted on a mobile robot. We exploit the fact that the decoupling property contributes to the robustness of a control method. More precisely, from the image of a point, we propose a minimal and decoupled set of features measurable on any catadioptric vision system. Using the minimal set, a classical control method is proved to be robust in the presence of point range errors. Finally, experimental results with a coarsely calibrated mobile robot validate the robustness of the new decoupled scheme.

Photometric visual servoing for omnidirectional cameras

“…This interaction matrix, deduced from equation 30, shows a decoupling property between the control of the translational and rotational velocities ( [34]). This matrix substitutes the geometrical interaction matrix in equation 29to get the interaction matrix linked to the intensity of a spherical point w.r.t.…”

“…The latter interaction matrix is furthermore constant, anywhere on the sphere. The photometric interaction matrix for the pure spherical representation is then obtained from the composition between the pure spherical gradients and the Jacobian of equation (34). The advantage to consider the translation velocity as a constant is to lose the deepness parameter ρ of the interaction matrix.…”

“…Previous works were done on the omnidirectional visual servoing to control robotics arms ( [33]) as well as mobile robots ( [28,34,5]).…”

Featureless omnidirectional vision-based control of non-holonomic mobile robot

“…It models the relationship between the motion of the camera and visual features in the image, leading to a kinematic proportional controller in basic formulations. Many visual features have been considered for visual servoing, as a point [8], a line [1] or sets of points [2], to only mention some of the ones introduced for omnidirectional vision in mobile robotics. Featureless, or photometric, visual servoing in omnidirectional vision for mobile robotics [4] considers the set of intensities of a desired image, i.e.…”

Multi-Rate Visual Feedback Robot Control

“…The analytical form of the interaction matrix is based on the type of the camera and the projection model used, Hutchinson et al (1996);Fomena et al (2009). The most common geometric model is the perspective projection one.…”