TY - GEN
T1 - A bearing-only 2D/3D-homing method under a visual servoing framework
AU - Liu, Ming
AU - Pradalier, Cédric
AU - Chen, Qijun
AU - Siegwart, Roland
PY - 2010/1/1
Y1 - 2010/1/1
N2 - Homing is one of the fundamental functions for both the mobile robot and the flying robot. Furthermore, homing can be introduced into a topological navigation system by cyclically setting Home positions at the keypoints/nodes in a topological map. In this work, we describe a bearing-only homing method based on only few matching keypoints to grant the mobile robot the homing ability. Our method considers the homing problem as a visual servoing problem in 2D plane and even in 3D space, using an omnidirectional camera as the visual sensor. It doesn't require the distance information to the reference feature points. The proof of the convergence for the algorithm is also given. The simulation results confirm the feasibility and robustness of our method.
AB - Homing is one of the fundamental functions for both the mobile robot and the flying robot. Furthermore, homing can be introduced into a topological navigation system by cyclically setting Home positions at the keypoints/nodes in a topological map. In this work, we describe a bearing-only homing method based on only few matching keypoints to grant the mobile robot the homing ability. Our method considers the homing problem as a visual servoing problem in 2D plane and even in 3D space, using an omnidirectional camera as the visual sensor. It doesn't require the distance information to the reference feature points. The proof of the convergence for the algorithm is also given. The simulation results confirm the feasibility and robustness of our method.
UR - https://www.scopus.com/pages/publications/77955829897
U2 - 10.1109/ROBOT.2010.5509441
DO - 10.1109/ROBOT.2010.5509441
M3 - Conference Paper published in a book
AN - SCOPUS:77955829897
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4062
EP - 4067
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -