An optimization approach to bearing-only visual homing with applications to a 2-D unicycle model

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2014, Pages 4235-4242

  Tron, Roberto ^a   Daniilidis, Kostas ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL THEORY; LYAPUNOV FUNCTIONS; SLIDING MODE CONTROL;

BEARING-ONLY; CONTROL LAWS; GLOBAL CONVER-GENCE; GRADIENT FIELDS; OPTIMIZATION APPROACH; RANGE INFORMATION; VECTOR METHOD; VISUAL HOMING;

VEHICLES;

EID: 84929192938     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2014.6907475     Document Type: Conference Paper

References (30)

1. B. A. Cartwright and T. S. Collett, "Landmark learning in bees, " Journal of Computational Physiology A, vol. 151, no. 4, pp. 521-543, 1983
2. R. Wehner, "Desert ant navigation: how miniature brains solve complex tasks, " Journal of Computational Physiology A, vol. 189, no. 8, pp. 579-588, 2003
3. M. A. McLeman, S. C. Pratt, and N. R. Franks, "Navigation using visual landmarks by the ant Leptothorax albipennis, " Insectes Sociaux, vol. 49, pp. 203-208, 2002
4. J. Hong, X. Tan, B. Pinette, R. Weiss, and E. M. Riseman, "Imagebased homing, " IEEE Control Systems Magazine, vol. 12, no. 1, pp. 38-45, 1992
5. D. Lambrinos, R. Moller, R. Pfeifer, and R. Wehner, "Landmark navigation without snapshots: the average landmark vector model, " in Goettingen Neurobiology Conference, vol. 1, 1998, p. 221
6. R. M oller, D. Lambrinos, R. Pfeifer, and R. Wehner, "Insect strategies of visual homing in mobile robots, " 1998
7. D. Schroeter and P. Newman, "On the robustness of visual homing under landmark uncertainty, " in International Conference on Autonomous Systems, 2008
8. T. Goedeme, T. Tuytelaars, L. V. Gool, D. Vanhooydonck, E. Demeester, and M. Nuttin, "Is structure needed for omnidirectional visual homing?" in IEEE International Symposium on Computational Intelligence and Robotic Automation, 2005, pp. 303-308
9. A. A. Argyros, K. E. Bekris, and S. E. Orphanoudakis, "Robot homing based on corner tracking in a sequence of panoramic images, " in IEEE Conference on Computer Vision and Pattern Recognition, vol. 2, 2001, pp. 3-11
10. J. Lim and N. Barnes, "Robust visual homing with landmark angles, " in Robotics: Science and Systems, 2009
11. M. Liu, C. Pradalier, Q. Chen, and R. Siegwart, "A bearing-only 2d/3d-homing method under a visual servoing framework, " in IEEE International Conference on Robotics and Automation, 2010, pp. 4062-4067
12. S. G. Loizou and V. Kumar, "Biologically inspired bearing-only navigation and tracking, " in IEEE International Conference on Decision and Control, 2007, pp. 1386-1391
13. P. Corke, "Mobile robot navigation as a planar visual servoing problem, " in Robotic Research, ser. Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2003, vol. 6, pp. 361-372
14. N. P. Papanikolopoulos and P. K. Khosla, "Adaptive robotic visual tracking: theory and experiments, " IEEE Transactions on Automatic Control, vol. 38, no. 3, pp. 429-445, 1993
15. M. Liu, C. Pradalier, and R. Siegwart, "Visual homing from scale with an uncalibrated omnidirectional camera, " IEEE Transactions on Robotics and Automation, vol. 29, no. 6, pp. 1353-1365, 2013
16. N. Cowan, J. D. Weingarten, and D. E. Koditschek, "Visual servoing via navigation functions, " IEEE Journal of Robotics and Automation, vol. 18, no. 4, pp. 521-533, 2002
17. D. E. Koditschek et al., "The application of total energy as a lyapunov function for mechanical control systems, " Dynamics and control of multibody systems, vol. 97, pp. 131-157, 1989
18. R. Basri, E. Rivlin, and I. Shimshoni, "Visual homing: surfing on the epipoles, " in IEEE International Conference on Computer Vision, 1998, pp. 863-869
19. J. Piazzi, D. Prattichizzo, and A. Vicino, "Visual servoing along epipoles, " in Control Problems in Robotics, ser. Springer Tracts in Advanced Robotics. Springer Berlin Heidelberg, 2003, vol. 4, pp. 215-231
20. P. Rives, "Visual servoing based on epipolar geometry, " in IEEE International Conference on Intelligent Robots and Systems, vol. 1, 2000, pp. 602-607
21. K. Usher, P. Ridley, and P. Corke, "Visual servoing of a car-like vehicle-An application of omnidirectional vision, " in IEEE International Conference on Robotics and Automation, 2003
22. R. Wei, D. Austin, and R. Mahony, "Biomimetic application of desert ant visual navigation for mobile robot docking with weighted landmarks, " International Journal of Intelligent Systems Technologies and Applications, vol. 1, pp. 174-190, 2005
23. G. Mariottini, D. Prattichizzo, and G. Oriolo, "Epipole-based visual servoing for nonholonomic mobile robots, " in IEEE International Conference on Robotics and Automation, vol. 1, 2004, pp. 497-503
24. G. L. Mariottini, G. Oriolo, and D. Prattichizzo, "Image-based visual servoing for nonholonomic mobile robots using epipolar geometry, " IEEE Transactions on Robotics and Automation, vol. 23, no. 1, pp. 87-100, 2007
25. G. Lopez-Nicolas, C. Sagues, J. J. Guerrero, D. Kragic, and P. Jensfelt, "Nonholonomic epipolar visual servoing, " in IEEE International Conference on Robotics and Automation, 2006
26. H. M. Becerra and C. Sagues, "A sliding mode control law for epipolar visual servoing of differential-drive robots, " in IEEE International Conference on Intelligent Robots and Systems, 2008, pp. 3058-3063
27. M. Aranda, G. Lopez-Nicolas, and C. Sagues, "Angle-based homing from a reference image set using the 1d trifocal tensor, " Autonomous Robots, vol. 34, pp. 73-91, 2013
28. H. K. Khalil, Nonlinear systems. Prentice hall Upper Saddle River, 2002, vol. 3
29. R. Tron and K. Daniilidis, "Technical report on optimization-based bearing-only visual homing with applications to a 2-d unicycle model, " arXiv
30. A. Geiger, J. Ziegler, and C. Stiller, "StereoScan: Dense 3d reconstruction in real-time, " in Intelligent Vehicles Symposium, 2011