%0 Conference Proceedings
%F Cherubini09b
%A Cherubini, A.
%A Chaumette, F.
%T Visual navigation with a time-independent varying reference
%B IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09
%P 5968-5973
%C St Louis, USA
%X 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 tone, in the image, as well as in the 3D state space
%U http://rainbow-doc.irisa.fr/pdf/2009_iros_cherubini.pdf
%U http://dx.doi.org/10.1109/IROS.2009.5354284
%8 October
%D 2009