I hereby declare that, except where specifically indicated, the work submitted herein is my own original work. I also declare that the work I shall submit in the conference style paper is also my own. 1 Previously, there have been several 4th-year projects using computer vision to follow a robot and thereby control it. The essence of this project is disconnectedness. The robot is controlled over a wireless link and is no-longer dependent on an umbilical cable. The user control has also been abstracted using CORBA allowing operations to be invoked on the robot from a remote location. Thanks to CORBA, the interface is universal and a small client program can be written to run on any platform connected to the Internet. The robot is monitored by an aerial camera connected to a server machine. This uses a B-spline snake, updated in an affine manner, to estimate the robot’s position in the image. A plane-to-plane homography is established using four known points and the system can map image coordinates to world coordinates. The server can therefor
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