Relative Affine Structure: Canonical Model for 3D From 2D Geometry and Applications
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision - Special issue on image-based servoing
Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Real-Time Simultaneous Localisation and Mapping with a Single Camera
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Robot navigation using image sequences
AAAI'96 Proceedings of the thirteenth national conference on Artificial intelligence - Volume 2
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
A mapping and localization framework for scalable appearance-based navigation
Computer Vision and Image Understanding
Qualitative vision-based path following
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Topological maps based on graphs of planar regions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A novel robotic visual perception method using object-based attention
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
An object-based visual attention model for robotic applications
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Distributed multi-camera visual mapping using topological maps of planar regions
Pattern Recognition
A fast robot homing approach using sparse image waypoints
Image and Vision Computing
Neural network Reinforcement Learning for visual control of robot manipulators
Expert Systems with Applications: An International Journal
Using mutual information for appearance-based visual path following
Robotics and Autonomous Systems
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This paper addresses the problem of vision-based navigation and proposes an original control law to perform such navigation. The overall approach is based on an appearance-based representation of the environment, where the scene is directly defined in the sensor space by a database of images acquired during a learning phase. Within this context, a path to follow is described by a set of images, or image path extracted from the database. This image path is designed so as to provide enough information to control the robotic system. The central contribution of this paper is the closed-loop control law that drives the robot to its desired position using this image path. This control does not require either a global 3D reconstruction or a temporal planning step. Furthermore, the robot is not constrained to converge directly upon each image of the path, but chooses its trajectory automatically. We propose a process of qualitative visual servoing, enabling us to enlarge the convergence space towards positioning in a range within a confidence interval. We propose and use specific visual features which ensure that the robot navigates within the visibility path. Experimental simulations are given to show the effectiveness of this method for controlling the motion of a camera in three-dimensional environments (free-flying camera, or camera moving on a plane). In addition, experiments realized with a robotic arm observing a planar scene are also presented.