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R. Tatsambon Fomena, H. Yoon, A. Cherubini, F. Chaumette, S. Hutchinson. Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System. In IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, Pages 5432-5437, St Louis, USA, October 2009.

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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


Francois Chaumette

BibTex Reference

   Author = {Tatsambon Fomena, R. and Yoon, H. and Cherubini, A. and Chaumette, F. and Hutchinson, S.},
   Title = {Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System},
   BookTitle = {IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09},
   Pages = {5432--5437},
   Address = {St Louis, USA},
   Month = {October},
   Year = {2009}

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