Range and pose estimation for visual servoing of a mobile robot

Author

Jung, David ; Heinzmann, Jochen ; Zelinksy, A.

Author_Institution

Dept. of Syst. Eng., Australian Nat. Univ., Canberra, ACT, Australia

Volume

2

fYear

1998

Firstpage

1226

Abstract

This paper describes the implementation of behaviour for real-time visual servoing on a mobile robot. The behaviour is a component of a multi-robot cleaning system developed in the context of our investigation into architectures for cooperative systems. An important feature for support of cooperation is the awareness of one robot by another, which this behaviour realises. Robust feature tracking aided by a hardware vision system is described. This forms the basis for range and pose estimation using a 3D projective model

Keywords

cooperative systems; mobile robots; motion estimation; optical tracking; position control; real-time systems; robot vision; servomechanisms; 3D projective model; behaviour based control; cooperative systems; feature tracking; mobile robots; multiple robot cleaning system; pose estimation; range estimation; real-time systems; robot vision; visual servoing; Centralized control; Cleaning; Cooperative systems; Laboratories; Machine vision; Mobile robots; Multirobot systems; Robot sensing systems; Robustness; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.677266

Filename

677266