Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Nonlinear Control Systems
Bayesian Model Estimation and Selection for Epipolar Geometry and Generic Manifold Fitting
International Journal of Computer Vision
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Homography-based visual servo regulation of mobile robots
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Dynamic visual tracking control of a mobile robot with image noise and occlusion robustness
Image and Vision Computing
Parking with the essential matrix without short baseline degeneracies
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Visual homing for undulatory robotic locomotion
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Multiple homographies with omnidirectional vision for robot homing
Robotics and Autonomous Systems
Omnidirectional visual control of mobile robots based on the 1D trifocal tensor
Robotics and Autonomous Systems
Homography-based control scheme for mobile robots with nonholonomic and field-of-view constraints
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on gait analysis
Vision-based exponential stabilization of mobile robots
Autonomous Robots
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
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In this paper, we present a visual control approach consisting in a switching control scheme based on the epipolar geometry. The method facilitates a classical teach-by-showing approach where a reference image is used to control the robot to the desired pose (position and orientation). As a result of our proposal a mobile robot carries out a smooth trajectory towards the target and the epipolar geometry model is used through the whole motion. The control scheme developed considers the motion constraints of the mobile platform in a framework based on the epipolar geometry that does not rely on artificial markers or specific models of the environment. The proposed method is designed in order to cope with the degenerate estimation case of the epipolar geometry with short baseline. Experimental evaluation has been performed in realistic indoor and outdoor settings.