This paper presents novel contributions on image-based control of a mobile robot using a general catadioptric camera model. A catadioptric camera is usually made up by a combination of a conventional camera and a curved mirror resulting in an omnidirectional sensor capable of providing 360° panoramic views of a scene. Modeling such cameras has been the subject of significant research interest in the computer vision community leading to a deeper understanding of the image properties and also to different models for different types of configurations. Visual servoing applications using catadioptric cameras have essentially been using central cameras and the corresponding unified projection model. So far only in a few cases more general models have been used. In this paper we address the problem of visual servoing using the so-called radial model. The radial model can be applied to many camera configurations and in particular to non-central catadioptric systems with mirrors that are symmetric around an axis coinciding with the optical axis. In this case, we show that the radial model can be used with a non-central catadioptric camera to allow effective image-based visual servoing (IBVS) of a mobile robot. Using this model, which is valid for a large set of catadioptric cameras (central or non-central), new visual features are proposed to control the degrees of freedom of a mobile robot moving on a plane. In addition to several simulation results, a set of experiments was carried out on Robot Operating System (ROS)-based platform which validates the applicability, effectiveness and robustness of the proposed method for image-based control of a non-holonomic robot.


    Access

    Download


    Export, share and cite



    Title :

    Visual servoing of mobile robots using non-central catadioptric cameras


    Contributors:

    Publication date :

    2014-11-01


    Remarks:

    doi:10.1016/j.robot.2014.03.007



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Image-Based Visual Servoing for Mobile Robots with Catadioptric Camera

    Mariottini, Gian Luca / Prattichizzo, Domenico / Cerbella, Andrea | Springer Verlag | 2006


    Visual Servoing/Tracking Using Central Catadioptric Images

    Barreto, João P. / Martin, Frédérick / Horaud, Radu | Springer Verlag | 2003


    Epipolar Geometry for Central Catadioptric Cameras

    Svoboda, T. / Pajdla, T. | British Library Online Contents | 2002


    Convoying of Heterogeneous Mobile Robots using Visual Servoing

    Marapane, S. B. / Trivedi, M. M. / Holder, M. | British Library Conference Proceedings | 1994


    Caustics of Catadioptric Cameras

    Swaminathan, R. / Grossberg, M. / Nayar, S. et al. | British Library Conference Proceedings | 2001