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020 _a9783319057835
_9978-3-319-05783-5
024 7 _a10.1007/978-3-319-05783-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
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082 0 4 _a629.892
_223
100 1 _aBecerra, H�ector . M.
_eauthor.
245 1 0 _aVisual Control of Wheeled Mobile Robots
_h[electronic resource] :
_bUnifying Vision and Control in Generic Approaches /
_cby H�ector . M Becerra, Carlos Sag�u�es.
264 1 _aCham :
_bSpringer International Publishing :
_bImprint: Springer,
_c2014.
300 _aXII, 118 p. 49 illus., 24 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v103
505 0 _aIntroduction -- Robust visual control based on the epipolar geometry -- A robust control scheme based on the trifocal tensor -- Dynamic pose-estimation for visual control -- Conclusions.
520 _aVision-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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aImage processing.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aControl.
650 2 4 _aImage Processing and Computer Vision.
700 1 _aSag�u�es, Carlos.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783319057828
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v103
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-319-05783-5
912 _aZDB-2-ENG
942 _cEBK
999 _c57902
_d57902