Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Paracatadioptric Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Catadioptric Projective Geometry
International Journal of Computer Vision
Catadioptric Omnidirectional Camera
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Mirrors in motion: Epipolar geometry and motion estimation
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
An Invitation to 3-D Vision: From Images to Geometric Models
An Invitation to 3-D Vision: From Images to Geometric Models
Geometric Properties of Central Catadioptric Line Images and Their Application in Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Correspondence-free Structure from Motion
International Journal of Computer Vision
Image moments: a general and useful set of features for visual servoing
IEEE Transactions on Robotics
Keeping features in the field of view in eye-in-hand visual servoing: a switching approach
IEEE Transactions on Robotics
IEEE Transactions on Robotics
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
Homography-based visual servo regulation of mobile robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Efficient data association for view based SLAM using connected dominating sets
Robotics and Autonomous Systems
Planar catadioptric stereo: single and multi-view geometry for calibration and localization
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Image-based path following control of mobile robots with central catadioptric cameras
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Omnidirectional visual control of mobile robots based on the 1D trifocal tensor
Robotics and Autonomous Systems
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
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This paper presents an image-based visual servoing strategy for the autonomous navigation of a mobile holonomic robot from a current towards a desired pose, specified only through a current and a desired image acquired by the on-board central catadioptric camera. This kind of vision sensor combines lenses and mirrors to enlarge the field of view. The proposed visual servoing does not require any metrical information about the three-dimensional viewed scene and is mainly based on a novel geometrical property, the auto-epipolar condition, which occurs when two catadioptric views (current and desired) undergo a pure translation. This condition can be detected in real time in the image domain by observing when a set of so-called disparity conics have a common intersection. The auto-epipolar condition and the pixel distances between the current and target image features are used to design the image-based control law. Lyapunov-based stability analysis and simulation results demonstrate the parametric robustness of the proposed method. Experimental results are presented to show the applicability of our visual servoing in a real context.