Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
International Journal of Computer Vision - Special issue on image-based servoing
Nonlinear Control Systems
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
A Simple Technique for Improving Camera Displacement Estimation in Eye-in-Hand Visual Servoing
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
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
Vision-based exponential stabilization of mobile robots
Autonomous Robots
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This paper addresses the problem of visual control of a mobile robot. The system consists of a calibrated camera fixed onboard a robot with nonholonomic motion constraints. The parking task is defined by a reference image taken at the target location. The proposed control law is based on the essential matrix, but unlike traditional methods, it is not used to compute pose parameters. Instead, the control law is defined directly in terms of individual entries of the essential matrix by means of the input-output linearization of the system. Here we solve the problem of degeneracies due to short baseline by taking advantage of the planar motion constraint of the robot. Thus, a virtual target is defined providing a stable estimation of the essential matrix without degeneracies despite short baseline.