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In this paper, we present a control scheme for visual path-following of wheeled mobile robots based on a robust geometric constraint: the trifocal tensor (TT). The proposed control law only needs one element of the TT as feedback information, which is computed from the current and the target images along the sequence of the visual path. The scheme is valid for images captured by cameras having approximately...
In this paper, we propose to exploit the epipolar geometry for dynamic pose-estimation of mobile robots. This is performed using a filtering approach with measurements given by the epipoles. The contribution of the paper is a novel observability analysis using nonlinear and linear tools that leads to achieve an efficient position-based visual servoing (PBVS) approach. Additionally, the visibility...
Driving mobile robots to precise locations is of recognized interest, and using vision sensors in this context supplies many advantages. We propose a novel control law based on sliding-mode theory in order to drive mobile robots to a target location, which is specified by a previously acquired reference image. The control scheme exploits the piecewise epipolar geometry of three views on the basis...
In this paper, we propose a visual path following control scheme for wheeled mobile robots based on the epipolar geometry. The control law only requires the position of the epipole computed between the current and target views along the sequence of a visual memory. The proposed approach has two main advantages: explicit pose parameters decomposition is not required and the rotational velocity is smooth...
This paper presents an image-based approach to perform visual control for differential-drive robots. We use for the first time the elements of the 1D trifocal tensor directly in the control law. The visual control utilizes the usual teach-by showing strategy without requiring any a prior knowledge of the scene and does not need any auxiliary image. The main contribution of the paper is that the proposed...
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