Pose-estimation-based visual servoing for differential-drive robots using the 1D trifocal tensor.
Héctor M. BecerraCarlos SagüésPublished in: IROS (2009)
Keyphrases
- pose estimation
- visual servoing
- line correspondences
- mobile robot
- robot control
- trifocal tensor
- autonomous robots
- vision system
- fundamental matrix
- d objects
- computer vision
- human body
- path planning
- degrees of freedom
- feature points
- multi robot
- body parts
- structure from motion
- robotic systems
- dynamic environments
- image space
- camera motion
- multiple cameras
- position and orientation
- human pose
- motion planning
- control law
- multiple views
- focal length
- camera pose
- epipolar geometry
- point correspondences
- feature extraction
- real time