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• W2152592376 abstract "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." @default.
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• W2152592376 date "2009-10-01" @default.
• W2152592376 modified "2023-09-24" @default.
• W2152592376 title "Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system" @default.
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• W2152592376 doi "https://doi.org/10.1109/iros.2009.5354130" @default.
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