Homography-based visual tracking of a mobile robot

This paper presents a new visual control approach based on homography. The control law is designed for mobile robots with a fixed monocular system on board. The information obtained from the homography measured from the reference image and the current image is used to develop a fuzzy controller that yield the follower mobile robot to track the leader robot. The two vehicles are supposed to move on a planar surface. The leader robot contains the pattern to track and the ESM algorithm is used for the visual tracking. The contribution of the paper is the combination of the homography and the fuzzy control for a visual tracking application for mobile robot, neither the decomposition of the homography nor the depth estimation to the target are necessary in the design of the controller.