TY - GEN
T1 - Image-based visual navigation for mobile robots
AU - O'Sullivan, Liam
AU - Corke, Peter
AU - Mahony, Robert
PY - 2013
Y1 - 2013
N2 - We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.
AB - We introduce a new image-based visual navigation algorithm that allows the Cartesian velocity of a robot to be defined with respect to a set of visually observed features corresponding to previously unseen and unmapped world points. The technique is well suited to mobile robot tasks such as moving along a road or flying over the ground. We describe the algorithm in general form and present detailed simulation results for an aerial robot scenario using a spherical camera and a wide angle perspective camera, and present experimental results for a mobile ground robot.
UR - http://www.scopus.com/inward/record.url?scp=84887304367&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6631332
DO - 10.1109/ICRA.2013.6631332
M3 - Conference contribution
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 5277
EP - 5283
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -