A Unified Approach to the Linear Camera Calibration Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
Vision-based interception of a moving target with a nonholonomic mobile robot
Robotics and Autonomous Systems
Switching visual control based on epipoles for mobile robots
Robotics and Autonomous Systems
Homography-based visual servo tracking control of a wheeled mobile robot
IEEE Transactions on Robotics
Statistically robust 2-D visual servoing
IEEE Transactions on Robotics
Stability analysis of a vision-based control design for an autonomous mobile robot
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
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This paper presents a robust visual tracking control design for a nonholonomic mobile robot equipped with a tilt camera. This design aims to allow the mobile robot to keep track of a dynamic moving target in the camera's field-of-view; even though the target is temporarily fully occluded. To achieve this, a control system consisting of a visual tracking controller (VTC) and a visual state estimator (VSE) is proposed. A novel visual interaction model is derived to facilitate the design of VTC and VSE. The VSE is responsible for estimating the optimal target state and target image velocity in the image space. The VTC then calculates the corresponding command velocities for the mobile robot to work in the world coordinates. The proposed VSE not only possesses robustness against the image noise, but also overcomes the temporary occlusion problem. Computer simulations and practical experiments of a mobile robot to track a moving target have been carried out to validate the performance and robustness of the proposed system.