Article thumbnail
Location of Repository

Visual servoing of a car-like vehicle - an application of omnidirectional vision

By Kane Usher, Peter Ridley and Peter Corke


In this paper, we develop the switching controller presented by Lee et al. for the pose control of a car-like vehicle, to allow the use of an omnidirectional vision sensor. To this end we incorporate an extension to a hypothesis on the navigation behaviour of the desert ant, cataglyphis bicolor, which leads to a correspondence free landmark based vision technique. The method we present allows positioning to a learnt location based on feature bearing angle and range discrepancies between the robot's current view of the environment, and that at a learnt location. We present simulations and experimental results, the latter obtained using our outdoor mobile platform

Topics: 090600 ELECTRICAL AND ELECTRONIC ENGINEERING, ant navigation behaviour, position control, feature bearing angle, omnidirectional vision sensor, correspondence free landmark based vision technique, car-like vehicle pose control, car-like vehicle visual servoing, cataglyphis bicolor, switching, computer vision, mobile robots, road vehicles, computerised navigation
Publisher: IEEE
Year: 2003
DOI identifier: 10.1109/ROBOT.2003.1242263
OAI identifier:

Suggested articles

To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.