NDLI: Visual navigation of wheeled mobile robots using direct feedback of a geometric constraint

Content Provider	Springer Nature Link
Author	Becerra, Héctor M. Sagüés, Carlos Mezouar, Youcef Hayet, Jean Bernard
Copyright Year	2014
Abstract	Many applications of wheeled mobile robots demand a good solution for the autonomous mobility problem, i.e., the navigation with large displacement. A promising approach to solve this problem is the following of a visual path extracted from a visual memory. In this paper, we propose an image-based control scheme for driving wheeled mobile robots along visual paths. Our approach is based on the feedback of information given by geometric constraints: the epipolar geometry or the trifocal tensor. The proposed control law only requires one measurement easily computed from the image data through the geometric constraint. The proposed approach has two main advantages: explicit pose parameters decomposition is not required and the rotational velocity is smooth or eventually piece-wise constant avoiding discontinuities that generally appear in previous works when the target image changes. The translational velocity is adapted as demanded for the path and the resultant motion is independent of this velocity. Furthermore, our approach is valid for all cameras with approximated central projection, including conventional, catadioptric and some fisheye cameras. Simulations and real-world experiments illustrate the validity of the proposal.
Starting Page	137
Ending Page	156
Page Count	20
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	37
Issue Number	2
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2014-01-18
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Visual navigation Visual path following Visual memory Epipolar geometry Trifocal tensor Robotics and Automation Artificial Intelligence (incl. Robotics) Computer Imaging, Vision, Pattern Recognition and Graphics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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