NDLI: Visual Servoing of a Mobile Robot in Presence of Tilt Disturbances Using a Central Catadioptric Vision System

Content Provider	IEEE Xplore Digital Library
Author	Wei Liu Mehrandezh, M.
Copyright Year	2007
Description	Author affiliation: Univ. of Regina, Regina (Wei Liu; Mehrandezh, M.)
Abstract	Catadioptric vision systems have been studied in the realm of visual servoing of mobile and articulated robots for the past decade. They are considered superior to a single camera system because of their larger field of view and higher resolution. This paper presents a new calibration method to estimate the tilt of a mobile robot equipped with a central catadioptric vision system moving on rough terrains. The proposed approach is based on the spatial projection of a set of parallel lines onto the image plane of an orthographic camera linked with a parabolic mirror. A methodology was developed to estimate 3-axis orientation of the catadioptric camera mounted on a mobile robot through information obtained from the 2D image. Furthermore, a visual servoing strategy was developed to drive a mobile robot from a given configuration to a target configuration while accounting for tilt disturbances imposed by the terrain. The performance of the proposed method is evaluated via computer simulations.
Starting Page	449
Ending Page	452
File Size	598327
Page Count	4
File Format	PDF
ISBN	1424410207
ISSN	08407789
DOI	10.1109/CCECE.2007.119
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-22
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Mobile robots Machine vision Robot vision systems Cameras Spatial resolution Calibration Mirrors Drives Computer simulation
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Hardware and Architecture

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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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