Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
Localization and Matching Using the Planar Trifocal Tensor With Bearing-Only Data
IEEE Transactions on Robotics
Visual control through the trifocal tensor for nonholonomic robots
Robotics and Autonomous Systems
Pose-estimation-based visual servoing for differential-drive robots using the 1D trifocal tensor
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Omnidirectional visual control of mobile robots based on the 1D trifocal tensor
Robotics and Autonomous Systems
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This paper presents an image-based approach to perform visual control for differential-drive robots. We use for the first time the elements of the 1D trifocal tensor directly in the control law. The visual control utilizes the usual teach-by showing strategy without requiring any a prior knowledge of the scene and does not need any auxiliary image. The main contribution of the paper is that the proposed two-steps control law ensures total correction of both position and orientation without switching to any other visual constraint rather than the 1D trifocal tensor. The paper exploits the sliding mode control technique in a square system, ensuring stability and robustness for the closed loop. The good performance of the control system is proven via simulations.