Visual control of wheeled mobile robots: unifying vision and control in generic approaches
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Datensatz im Suchindex
| _version_ | 1819286105573294080 |
|---|---|
| adam_text | VISUAL CONTROL OF WHEELED MOBILE ROBOTS
/ BECERRA, HECTOR . M.
: 2014
TABLE OF CONTENTS / INHALTSVERZEICHNIS
INTRODUCTION
ROBUST VISUAL CONTROL BASED ON THE EPIPOLAR GEOMETRY
A ROBUST CONTROL SCHEME BASED ON THE TRIFOCAL TENSOR
DYNAMIC POSE-ESTIMATION FOR VISUAL CONTROL
CONCLUSIONS
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
VISUAL CONTROL OF WHEELED MOBILE ROBOTS
/ BECERRA, HECTOR . M.
: 2014
ABSTRACT / INHALTSTEXT
VISION-BASED CONTROL OF WHEELED MOBILE ROBOTS IS AN INTERESTING FIELD OF
RESEARCH FROM A SCIENTIFIC AND EVEN SOCIAL POINT OF VIEW DUE TO ITS
POTENTIAL APPLICABILITY. THIS BOOK PRESENTS A FORMAL TREATMENT OF SOME
ASPECTS OF CONTROL THEORY APPLIED TO THE PROBLEM OF VISION-BASED POSE
REGULATION OF WHEELED MOBILE ROBOTS. IN THIS PROBLEM, THE ROBOT HAS TO
REACH A DESIRED POSITION AND ORIENTATION, WHICH ARE SPECIFIED BY A
TARGET IMAGE. IT IS FACED IN SUCH A WAY THAT VISION AND CONTROL ARE
UNIFIED TO ACHIEVE STABILITY OF THE CLOSED LOOP, A LARGE REGION OF
CONVERGENCE, WITHOUT LOCAL MINIMA, AND GOOD ROBUSTNESS AGAINST
PARAMETRIC UNCERTAINTY. THREE DIFFERENT CONTROL SCHEMES THAT RELY ON
MONOCULAR VISION AS UNIQUE SENSOR ARE PRESENTED AND EVALUATED
EXPERIMENTALLY. A COMMON BENEFIT OF THESE APPROACHES IS THAT THEY ARE
VALID FOR IMAGING SYSTEMS OBEYING APPROXIMATELY A CENTRAL PROJECTION
MODEL, E.G., CONVENTIONAL CAMERAS, CATADIOPTRIC SYSTEMS AND SOME FISHEYE
CAMERAS. THUS, THE PRESENTED CONTROL SCHEMES ARE GENERIC APPROACHES. A
MINIMUM SET OF VISUAL MEASUREMENTS, INTEGRATED IN ADEQUATE TASK
FUNCTIONS, ARE TAKEN FROM A GEOMETRIC CONSTRAINT IMPOSED BETWEEN
CORRESPONDING IMAGE FEATURES. PARTICULARLY, THE EPIPOLAR GEOMETRY AND
THE TRIFOCAL TENSOR ARE EXPLOITED SINCE THEY CAN BE USED FOR GENERIC
SCENES. A DETAILED EXPERIMENTAL EVALUATION IS PRESENTED FOR EACH CONTROL
SCHEME
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
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| illustrated | Not Illustrated |
| indexdate | 2024-12-20T16:55:46Z |
| institution | BVB |
| isbn | 9783319057835 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-027266395 |
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| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spellingShingle | Becerra, Héctor . M. Visual control of wheeled mobile robots unifying vision and control in generic approaches Springer tracts in advanced robotics Ingenieurwissenschaften Künstliche Intelligenz Artificial intelligence Computer vision Engineering |
| title | Visual control of wheeled mobile robots unifying vision and control in generic approaches |
| title_auth | Visual control of wheeled mobile robots unifying vision and control in generic approaches |
| title_exact_search | Visual control of wheeled mobile robots unifying vision and control in generic approaches |
| title_full | Visual control of wheeled mobile robots unifying vision and control in generic approaches Héctor M. Becerra ; Carlos Sagüés |
| title_fullStr | Visual control of wheeled mobile robots unifying vision and control in generic approaches Héctor M. Becerra ; Carlos Sagüés |
| title_full_unstemmed | Visual control of wheeled mobile robots unifying vision and control in generic approaches Héctor M. Becerra ; Carlos Sagüés |
| title_short | Visual control of wheeled mobile robots |
| title_sort | visual control of wheeled mobile robots unifying vision and control in generic approaches |
| title_sub | unifying vision and control in generic approaches |
| topic | Ingenieurwissenschaften Künstliche Intelligenz Artificial intelligence Computer vision Engineering |
| topic_facet | Ingenieurwissenschaften Künstliche Intelligenz Artificial intelligence Computer vision Engineering |
| url | https://doi.org/10.1007/978-3-319-05783-5 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027266395&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=027266395&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV019551493 |
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