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.

Abstract

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.

Impact and interest:

1 citations in Scopus
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ID Code: 60156
Item Type: Conference Paper
Refereed: Yes
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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