Visual navigation with a time-independent varying reference

Authors:
Andrea Cherubini;François Chaumette
Affiliations:
INRIA Rennes, Bretagne Atlantique, IRISA, Rennes, France;INRIA Rennes, Bretagne Atlantique, IRISA, Rennes, France
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect to a fixed one, in the image, as well as in the 3D state space.