Image-based Visual Servoing for Mobile Robot Using Epipolar
We present an image-based visual servoing strategy for
driving a nonholonomic mobile robot equipped with a
pinhole camera (see Fig. 1(left)) toward a desired
configuration. The proposed approach uses the epipolar
geometry (see Fig. 1(right)) and does not need any
knowledge of the 3-D scene geometry. Asymptotic convergence to the
desired configuration is proven, both in the calibrated and
partially calibrated case.
Figure 1: (Left) PIONEER robot with pinhole camera. (Right)
The epipolar geometry is used as the main tool in our servoing strategy.
A generical starting configuration is shown in
Fig. 2(left), while the corresponding position of
feature points and epipoles (here superimposed to the desired
image) is shown in Fig. 2(right). The control scheme is
divided in two steps. In the first, using an approximate
input-output linearizing feedback, the epipoles are zeroed, so as
to align the robot with the goal. Feature points are then used in
the second translational step to reach the desired configuration.
Global asymptotic convergence has been proven, both in the
calibrated and partially calibrated case.
Figure 2: (Left) The IBVS strategy based on epipolar geometry drives the robot form initial to target position (in which the desired view is known) using the current view.
(Right) From the pinhole camera we extract desired (circles) and current (crosses) features to compute epipoles (ed and ea) (here superimposed to the desired image) and control the robot.
We present here results from the experimental session:
G.L. Mariottini, G. Oriolo and D. Prattichizzo.
Image-Based Visual Servoing for Nonholonomic Mobile
Robots Using Epipolar Geometry. in IEEE Transactions on
Robotics, pp. 87-100, Vol.23, Issue 1,
G.L. Mariottini, D. Prattichizzo and G. Oriolo.
Epipole-based visual servoing for nonholonomic mobile
robots, in IEEE International Conference on Robotics and
Automation, New Orleans, U.S.A., pp. 497-503, April 2004.
We wish to thanks Nicola Pisu and Riccardo Donati for their
invaluable help in the realization of experimental results.
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