Image-based visual servoing zur autonomen navigation einer mobilen plattform

Translated title of the contribution: Image-based visual servoing for autonomous navigation of a mobile platform

Thorsten Lietmann, Boris Lohmann

Research output: Contribution to journalArticlepeer-review

1 Scopus citations

Abstract

A new visual servoing controller based on the image-jacobian-matrix is proposed and used to navigate a mobile platform (wheelchair). This is done by only evaluating deviations in the camera’s image and without using the position of the landmark in the world coordinate frame. The common 2D-visual servoing approach is extended to 3D-visual servoing by adding the distance between landmark and camera into the control scheme. Due to the non-holonomic constraints of the wheelchair the visual servoing has to be supported by an additional trajectory tracking control. Furthermore, a pan-tilt-head is used for turning the camera and keeping the landmark in the camera’s field of view.

Translated title of the contributionImage-based visual servoing for autonomous navigation of a mobile platform
Original languageGerman
Pages (from-to)86-95
Number of pages10
JournalAt-Automatisierungstechnik
Volume51
Issue number2
DOIs
StatePublished - 2003
Externally publishedYes

Fingerprint

Dive into the research topics of 'Image-based visual servoing for autonomous navigation of a mobile platform'. Together they form a unique fingerprint.

Cite this