Summary
In this chapter we present an epipolar-based visual servoing for holonomic mobile robots equipped with panoramic camera. The proposed visual servoing is based on epipolar geometry and exploits the auto-epipolar property, a special configuration for the epipoles that occurs when the desired and the current panoramic views undergo a pure translation. This occurrence is detectable directly in the image plane simply controlling when the so-called biosculating conics all co-intersect at only two points. Our visual servoing control law exploits the auto-epipolar property in order to retrieve the equal orientation between target and current camera. Translation is performed by exploiting the epipoles. Simulation results and Lyapunov-based stability analysis demonstrate the parametric robustness of the proposed method. We also provide a short introduction to the Epipolar Geometry Toolbox (EGT), a free MATLAB software package developed at the University of Siena, with which all simulation results have been obtained. EGT can be downloaded from the EGT web site together with a detailed manual and code examples.
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Mariottini, G.L., Alunno, E., Piazzi, J., Prattichizzo, D. (2006). Visual Servoing with Central Catadioptric Camera. In: Menini, L., Zaccarian, L., Abdallah, C.T. (eds) Current Trends in Nonlinear Systems and Control. Systems and Control: Foundations & Applications. Birkhäuser Boston. https://doi.org/10.1007/0-8176-4470-9_17
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DOI: https://doi.org/10.1007/0-8176-4470-9_17
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