DocumentCode :
2666498
Title :
A fast homography decomposition technique for visual servo of mobile robots
Author :
Xuebo, Zhang ; Yongchun, Fang ; Bojun, Ma ; Xi, Liu ; Ming, Zhang
Author_Institution :
Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin
fYear :
2008
fDate :
16-18 July 2008
Firstpage :
404
Lastpage :
409
Abstract :
A fast homography decomposition algorithm for visual servo of mobile robots is presented. Motion constraints of the mobile robot are exploited and thus the complexity of the algorithm decreases significantly by avoiding the singular value decomposition (SVD) step in most cases, which is potentially competitive in such applications as visual servo task executed at the video rate. Moreover, the ambiguity problem, which is troublesome for general approaches on the unconstrained configuration such as manipulators, does not exist for the mobile robot except when the reference target plane is perpendicular to the horizontal ground. Besides, the proposed algorithm can also be exploited in other related areas such as vision-based localization, provided that the camera undergoes a planar motion. Simulation results considering the pixel noise are provided to demonstrate the performance of the proposed method.
Keywords :
computational complexity; mobile robots; noise; robot vision; singular value decomposition; visual servoing; algorithm complexity; ambiguity problem; camera; homography decomposition technique; mobile robots; motion constraints; pixel noise; singular value decomposition; unconstrained configuration; vision-based localization; visual servo; Cameras; Control systems; Data mining; Manipulators; Mobile robots; Programmable control; Robot control; Robot vision systems; Servomechanisms; Singular value decomposition; Homography decomposition; Mobile robots; Visual servo;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
Type :
conf
DOI :
10.1109/CHICC.2008.4605543
Filename :
4605543
Link To Document :
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