%0 Conference Proceedings
%F Tatsambon09b
%A Tatsambon Fomena, R.
%A Yoon, H.
%A Cherubini, A.
%A Chaumette, F.
%A Hutchinson, S.
%T Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System
%B IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09
%P 5432-5437
%C St Louis, USA
%X 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
%U http://rainbow-doc.irisa.fr/pdf/2009_iros_tatsambon.pdf
%U http://dx.doi.org/10.1109/IROS.2009.5354130
%8 October
%D 2009