Visual Homing: Surfing on the Epipoles
International Journal of Computer Vision
Application of Lie Algebras to Visual Servoing
International Journal of Computer Vision - Special issue on image-based servoing
International Journal of Computer Vision - Special issue on image-based servoing
Real-Time Visual Tracking of Complex Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Wide Baseline Point Matching Using Affine Invariants Computed from Intensity Profiles
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part I
Real-Time Tracking of Complex Structures for Visual Servoing
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Robot Homing by Exploiting Panoramic Vision
Autonomous Robots
Homography-based 2D Visual Tracking and Servoing
International Journal of Robotics Research
Omnidirectional Vision Based Topological Navigation
International Journal of Computer Vision
Calibrating an air-ground control system from motion correspondences
CVPR'04 Proceedings of the 2004 IEEE computer society conference on Computer vision and pattern recognition
Robust homography-based control for camera positioning in piecewise planar environments
ICVGIP'06 Proceedings of the 5th Indian conference on Computer Vision, Graphics and Image Processing
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We introduce a novel method for visual homing. Using this method a robot can be sent to desired positions and orientations in 3-D space specified by single images taken from these positions. Our method determines the path of the robot on-line. The starting position of the robot is not constrained, and a 3-D model of the environment is not required. The method is based on recovering the epipolar geometry relating the current image taken by the robot and the target image. Using the epipolar geometry, most of the parameters which specify the differences in position and orientation of the camera between the two images are recovered. However, since not all of the parameters can be recovered from two images, we have developed specific methods to bypass these missing parameters and resolve the ambiguities that exist. We present two homing algorithms for two standard projection models, weak and full perspective. We have performed simulations and real experiments which demonstrate the robustness of the method and that the algorithms always converge to the target pose.