Robot Positioning Using Camera-Space Manipulation With a Linear Camera Model

Abstract

This paper presents a new version of the camera-spacemanipulation method (CSM). The set of nonlinear view parameters of the classic CSM is replaced with a linear model. Simulations and experiments show a similar precision error for the two methods. However, the new approach is simpler to implement and is faster.Index Terms-Camera matrix, camera-space manipulation (CSM), pinhole camera model, robot control, vision-based control.

A Taxonomy of Vision Systems for Ground Mobile Robots

“…A neuroscience-inspired model of stereoptic and perspective orientation estimators, merged according to different criteria, is implemented on a robotic setup and tested in different conditions. In a similar manner, [97] presents a version of the camera-space manipulation method (CSM). The set of nonlinear view parameters of the classic CSM is replaced with a linear model.…”

RFID-based Location System for Forest Search and Rescue Missions

“…To solve this problem, this works substitutes the USB camera by another type of camera equipped with visual or thermal sensors. The literature presents different types of cameras: linear camera, color camera, stereo vision and infrared camera [14]- [18]. Currently, linear cameras are the cheapest technology on the market yet they perform very poorly in detecting humans [14].…”

“…The literature presents different types of cameras: linear camera, color camera, stereo vision and infrared camera [14]- [18]. Currently, linear cameras are the cheapest technology on the market yet they perform very poorly in detecting humans [14]. Color cameras and stereo vision are efficient in detecting a human presence and can be used for outdoor applications, but their high costs make them a bad candidate for this work.…”

“…IR camera is a robust and efficient solution to make the discrimination between human and non-human presence. This type of cameras is also efficient during nighttime as the camera provides a picture of the environment heat and detects in the image, the human body target with warm temperature [14]. Table I shows one advantage and one limitation of each of the USB camera and the IR camera.…”

“…The proposed robot is equipped with an IR camera because of its moderate cost, its small size and its ability to work in different environmental conditions (darkness, night, raining and windy weather, etc.) [14].…”