Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
A Theory of Catadioptric Image Formation
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
A new formulation of visual servoing based on cylindrical coordinate system
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
Image-Based Visual Servoing for Nonholonomic Mobile Robots Using Epipolar Geometry
IEEE Transactions on Robotics
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
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A catadioptric vision system combines a camera and a mirror to achieve a wide field of view imaging system. This type of vision system has many potential applications in mobile robotics. This paper is concerned with the design of a robust image-based control scheme using a catadioptric vision system mounted on a mobile robot. We exploit the fact that the decoupling property contributes to the robustness of a control method. More precisely, from the image of a point, we propose a minimal and decoupled set of features measurable on any catadioptric vision system. Using the minimal set, a classical control method is proved to be robust in the presence of point range errors. Finally, experimental results with a coarsely calibrated mobile robot validate the robustness of the new decoupled scheme.