Image-based visual navigation for mobile robots
O'Sullivan, Liam, Corke, Peter, & Mahoney, Robert (2013) Image-based visual navigation for mobile robots. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation, IEEE, Kongresszentrum Karlsruhe, Karlsruhe, Germany.
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.
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|Item Type:||Conference Paper|
|Keywords:||Visual servoing, Visual navigation|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2013 IEEE|
|Deposited On:||21 May 2013 22:12|
|Last Modified:||21 Jan 2014 06:17|
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