Pattern tracking and visual servoing for indoor mobile environment mapping and autonomous navigation

Abstract : In this paper, an image-based framework for avigation of a mobile robot in an indoor environment is presented. The only sensor used is an embedded monocular vision system. The environment is autonomously mapped during a learning stage in order to locate the robot on-line. A suitable control law is designed to drive the robot in an image database. To address this issue, a Virtual nonHolonomic Vehicle (VNHV) attached to the image plane is defined.
Type de document :
Communication dans un congrès
2006, ICINCO, pp.1, 2006
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https://hal.archives-ouvertes.fr/hal-00095268
Contributeur : Omar Ait-Aider <>
Soumis le : vendredi 15 septembre 2006 - 14:15:04
Dernière modification le : vendredi 19 octobre 2018 - 10:28:01

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  • HAL Id : hal-00095268, version 1

Citation

Omar Ait Aider. Pattern tracking and visual servoing for indoor mobile environment mapping and autonomous navigation. 2006, ICINCO, pp.1, 2006. 〈hal-00095268〉

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