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Visual servoing of a car-like vehicle - an application of omnidirectional vision

Usher, Kane, Ridley, Peter, & Corke, Peter (2003) Visual servoing of a car-like vehicle - an application of omnidirectional vision. In Proceedings ICRA '03 IEEE International Conference on Robotics and Automation 2003, IEEE, The Grand Hotel, Taipei, Taiwan, pp. 4288-4293.

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Abstract

In this paper, we develop the switching controller presented by Lee et al. for the pose control of a car-like vehicle, to allow the use of an omnidirectional vision sensor. To this end we incorporate an extension to a hypothesis on the navigation behaviour of the desert ant, cataglyphis bicolor, which leads to a correspondence free landmark based vision technique. The method we present allows positioning to a learnt location based on feature bearing angle and range discrepancies between the robot's current view of the environment, and that at a learnt location. We present simulations and experimental results, the latter obtained using our outdoor mobile platform.

Impact and interest:

17 citations in Scopus
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5 citations in Web of Science®

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Full-text downloads:

154 since deposited on 01 Oct 2010
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ID Code: 33862
Item Type: Conference Paper
Keywords: ant navigation behaviour, position control , feature bearing angle, omnidirectional vision sensor, correspondence free landmark based vision technique, car-like vehicle pose control, car-like vehicle visual servoing, cataglyphis bicolor, switching, computer vision, mobile robots, road vehicles, computerised navigation
DOI: 10.1109/ROBOT.2003.1242263
ISBN: 0780377362 Print
ISSN: 10504729
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Copyright Owner: Copyright 2003 IEEE
Copyright Statement: Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Deposited On: 01 Oct 2010 13:15
Last Modified: 29 Feb 2012 23:01

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