The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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A Unified Initialization Phase to Improve Visual Servoing in an Unknown Environment

Adrien Durand Petiteville
LAAS /CNRS Université Paul Sabatier Toulouse 3
France

Viviane Cadenat
LAAS /CNRS Université Paul Sabatier Toulouse 3
France

Michel Courdesses
LAAS /CNRS Université Paul Sabatier Toulouse 3
France

Abstract:
In this paper, we consider the problem of the accurate estimation of the depth
in the specific context of 2D visual servoing. To this aim, we have developed a
predictor/estimator pair. This depth will then be used to solve simultaneously
three problems, namely the determination of the interaction matrix, the
estimation of the visual features (when the image is temporarily unavailable)
and the automatic computation of their reference values. Simulation results
validate our work.

 

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