Improved line tracker using IMU and vision for visual servoing

Sa, Inkyu & Corke, Peter (2013) Improved line tracker using IMU and vision for visual servoing. In Katupitiya, Jayantha, Guivant, Jose, & Eaton, Ray (Eds.) Proceedings of the 2013 Australasian Conference on Robotics and Automation, Australian Robotics & Automation Association, University of New South Wales, Sydney, NSW, pp. 1-7.

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This paper introduces an improved line tracker using IMU and vision data for visual servoing tasks. We utilize an Image Jacobian which describes motion of a line feature to corresponding camera movements. These camera motions are estimated using an IMU. We demonstrate impacts of the proposed method in challenging environments: maximum angular rate ~160 0/s, acceleration ~6m /s2 and in cluttered outdoor scenes. Simulation and quantitative tracking performance comparison with the Visual Servoing Platform (ViSP) are also presented.

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ID Code: 66629
Item Type: Conference Paper
Refereed: Yes
Keywords: Improved line tracker, Robotics, Visual servoing tasks, IMU, Image Jacobian
ISBN: 9780980740448
ISSN: 1448-2053
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2013 [please consult the authors]
Deposited On: 28 Jan 2014 01:55
Last Modified: 30 Jan 2014 04:53

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