Abstract
In this work we address the problem of controlling a ground robot based on aerial image feedback in real time. We present an analysis of the relationship between a robot’s ground velocity and the velocity of it’s projection in the image. We also show how a subset of the parameters of the homography relating the ground plane and the image plane can be extracted from motion correspondences and subsequently used in a sample control task. Further, we extend our analysis to the case of robot control from a moving overhead camera using image feedback. The experimental implementation and validation of the schemes we have presented is one of the central goals of this paper.
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© 2006 Springer-Verlag Berlin Heidelberg
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Rao, R., Taylor, C., Kumar, V. (2006). Experiments in Robot Control from Uncalibrated Overhead Imagery. In: Ang, M.H., Khatib, O. (eds) Experimental Robotics IX. Springer Tracts in Advanced Robotics, vol 21. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11552246_47
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DOI: https://doi.org/10.1007/11552246_47
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28816-9
Online ISBN: 978-3-540-33014-1
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