DocumentCode
3528771
Title
Image-based visual navigation for mobile robots
Author
O´Sullivan, Liam ; Corke, Peter ; Mahony, Robert
Author_Institution
CyPhy Lab., Queensland Univ. of Technol., Brisbane, QLD, Australia
fYear
2013
fDate
6-10 May 2013
Firstpage
5277
Lastpage
5283
Abstract
We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.
Keywords
aerospace robotics; cameras; mobile robots; navigation; robot vision; visual servoing; aerial robot scenario; image-based visual navigation algorithm; mobile ground robot; mobile robot task; robot Cartesian velocity; robot movement; spherical camera; visually observed features; wide angle perspective camera; Cameras; Equations; Jacobian matrices; Optical imaging; Robot kinematics; Robot vision systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6631332
Filename
6631332
Link To Document