Open document
|
General information |
| Author |
Belo, Felipe A. W.; Salaris, Paolo; Fontanelli, Daniele; Bicchi, Antonio |
| Published |
InTech Open Access Publisher, 2013
|
| Edition |
|
| Extend |
This paper presents an analysis of planar
bearing localization and mapping for visual servoing
with known camera velocities. In particular, we
investigate what is the subset of camera locations and
environmental features that can be retrieved from
dynamic observations obtained by a planar bearing
sensor (nearly e.g., a pinhole camera). Results assume
that the camera’s linear and angular velocities are
available, which is equivalent to consider a unicycle
vehicle carrying an onboard camera. Results hold if
other system inputs are considered, e.g., an
omnidirectional vehicle. The theoretical results may
guide the design of nonlinear observers to estimate the
variables of interest in real time to be applied to visual
servoing schemes. An example of such an observer is
discussed and simulated.
|
| ISBN |
|
|
| |
|
International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
|
|
Newsletter
DMG-Lib
Europeana
PDF
Univ. Cassino
