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In this paper we proposed a visual servoing system for mobile robot navigation under omnidirectional vision and used an eye-to-hand camera to do color configuration. We used only one fixed camera to provide the picture for the global path planning. The image is captured by the omnidirectional camera mounted on the ceiling followed by camera calibration, image processing, path planning and target detection...
The eye-in-hand and eye-to-hand visual servo configuration both have its own merit and limitation. Eye-in-hand configuration provides more precision but less sight of scene covered. Eye-to-hand configuration is on the contrary. PBVS (Position Based Visual Servo) control suffers from its high sensitivity to model inconsistencies and task conditioning. IBVS (Image Based Visual Servo) control suffers...
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