Lecture
Visual Control of Mobile Robots Through Multiple View Geometry
Speaker: |
Gonzalo Lopez-Nicolas, Robotics, Perception and Real-Time Group, University of Zaragoza, Spain |
Date: |
Friday, 18 April 2008 |
Time: |
15:00-17:00 |
Location: |
"Mediterranean Studies" Seminar Room, FORTH. Heraklion, Crete |
Host: |
Antonis Argyros |
| Abstract: |
This work addresses the problem
of visual control of mobile robots. We consider a vision system
consisting of a monocular camera onboard the vehicle. We also
consider the specific problem of pure visual control, therefore
the approaches investigated are only based on visual information,
and no odometry or additional sensors are needed. In favour of
versatility, methods that do not require any special modelling
of the environment and those that do not consider the use of fiducial
markers are of significant importance. Then, we add to the framework
the requirement of dealing with unknown and unstructured environments. Following this idea only a snapshot image of the world taken at the goal location is given to the control system in order to perform the autonomous navigation task. We tackle the problem of visual control taking advantage of the multiple view geometry. Thus, the image information extracted is filtered through the constraints imposed by the geometric model across the views resulting in a better performance and robustness. Besides, we focus on the multiple view geometry itself (The epipolar geometry, homography or trifocal tensor), and we have proposed to solve the visual control task directly in terms of the geometric model. |
| Bio: |
Gonzalo Lopez-Nicolas obtained the degree in industrial engineering from
the University of Zaragoza (Spain) in 2003. Currently, he is a PhD
student at the Department of Computer Science and Systems Engineering at
University of Zaragoza. He is a member of the Robotics, Perception and
Real-Time Group (http://robots.unizar.es/new). His current research
interests are focused on visual control, autonomous robot navigation and
application of computer vision to robotics. |
