A visual control system of a mobile robot using perspective geometry

We consider a problem about navigation of a mobile robot with a camera in indoor environment. A new visual control method using a vanishing point of parallel lines at both sides of the corridor is introduced, and we call this the vanishing point visual control method. This method gives a lot of usef...

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Bibliographic Details
Main Authors: Sun Lili, Uchikado, S., Kobayashi, N., Tanaka, K., Osa, Y.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Computational geometry
Control systems
Epipole
Feedback
Image Processing
Information geometry
Mobile robots
Robot kinematics
Robot vision systems
Sun
Transmission line matrix methods
Vanishing Point
Visual Feedback
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Summary:We consider a problem about navigation of a mobile robot with a camera in indoor environment. A new visual control method using a vanishing point of parallel lines at both sides of the corridor is introduced, and we call this the vanishing point visual control method. This method gives a lot of useful information on the design. Therefore we canpsilat need a priori information except both widths of the corridor and the robot, and we can easily design the visual feedback system for guidance and obstacle avoidance by using this method. The idea is based on perspective geometry such as perspective projection, epipolar geometry, vanishing point, and projective transformation.
ISSN:2154-4824
2154-4832