Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System

R. Tatsambon Fomena (1) , H. Yoon (2) , Andrea Cherubini (1) , François Chaumette (1) , S. Hutchinson (2)

1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
2 UIUC - University of Illinois at Urbana-Champaign [Urbana]

A catadioptric vision system combines a camera and a mirror to achieve a wide field of view imaging system. This type of vision system has many potential applications in mobile robotics. This paper is concerned with the design of a robust image-based control scheme using a catadioptric vision system mounted on a mobile robot. We exploit the fact that the decoupling property contributes to the robustness of a control method. More precisely, from the image of a point, we propose a minimal and decoupled set of features measurable on any catadioptric vision system. Using the minimal set, a classical control method is proved to be robust in the presence of point range errors. Finally, experimental results with a coarsely calibrated mobile robot validate the robustness of the new decoupled scheme.

Domaines: Robotique [cs.RO]

R. Tatsambon Fomena, H. Yoon, Andrea Cherubini, François Chaumette, S. Hutchinson. Coarsely Calibrated Visual Servoing of a Mobile Robot using a Catadioptric Vision System. IEEE Int. Conf. on Intelligent Robots and Systems, IROS'09, 2009, St Louis, USA, United States. pp.5432-5437. ⟨inria-00436917⟩