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Experiments in Robot Control from Uncalibrated Overhead Imagery

  • Rahul Rao
  • Camillo Taylor
  • Vijay Kumar
XII. Vision
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 21)

Abstract

In this work we address the problem of controlling a ground robot based on aerial image feedback in real time. We present an analysis of the relationship between a robot’s ground velocity and the velocity of it’s projection in the image. We also show how a subset of the parameters of the homography relating the ground plane and the image plane can be extracted from motion correspondences and subsequently used in a sample control task. Further, we extend our analysis to the case of robot control from a moving overhead camera using image feedback. The experimental implementation and validation of the schemes we have presented is one of the central goals of this paper.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Rahul Rao
    • 1
  • Camillo Taylor
    • 1
  • Vijay Kumar
    • 1
  1. 1.GRASP Laboratory, University of PennsylvaniaUSA

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