Optimal landmark configuration for vision-based control of mobile robots

Darius Burschka, Jeremy Geiman, Gregory Hager

Research output: Contribution to journalConference articlepeer-review

Abstract

We analyze the problem of finding the optimal placement of tracked primitives for robust vision-based control of a mobile robot. The analysis evaluates the properties of the Image Jacobian matrix, used for direct generation of the control signals from the error signal in the image, and the accuracy of the underlying sensor system. The analysis is then used to select optimal tracking primitives that ensure good observability and controllability of the mobile system for a variety of sensor system configurations. The theoretical results are validated with our mobile robot for system configurations that use standard video cameras mounted on a pan-tilt head and catadioptric systems.

Original languageEnglish (US)
Pages (from-to)3917-3922
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
StatePublished - Dec 9 2003
Event2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China
Duration: Sep 14 2003Sep 19 2003

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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