First results in omni-directional visual servoing

Authors: Chang, Peng; Hebert, Martial

Source: Advanced Robotics, Volume 14, Number 3, 2000 , pp. 205-220(16)

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Abstract:

In this paper, we describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360° of field of view and an efficient tracking technique is developed to track the target. The use of the omni-directional geometry eliminates many of the problems common in visual tracking and makes the use of visual servoing a practical alternative for robot-human interaction. The experiments demonstrate that it is an effective and robust way to guide a robot. In particular, the experiments show robustness of the tracker to loss of template, vehicle motion, and change in scale and orientation.

Keywords: VISUAL SERVOING; MOBILE ROBOTS; OMNI-DIRECTIONAL CAMERAS

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855300741537

Publication date: 2000-11-01