rdf-syntax-grammar
mods:
  schema location: http://www.loc.gov/mods/v3 http://www.loc.gov/standards/mods/v3/mods-3-2.xsd
  title info:
    title: Visual Control of Wheeled Mobile Robots
    sub title: Unifying Vision and Control in Generic Approaches
  name:
    name part: Becerra, Héctor . M.
    role:
      role term: creator
    role:
      role term: author.
  name:
    name part: Sagüés, Carlos.
    role:
      role term: author.
  name:
    name part: SpringerLink (Online service)
  type of resource: text
  origin info:
    place:
      place term: gw
    date issued: 2014
    issuance: monographic
  language:
    language term: eng
  physical description:
    form: electronic
    form: electronic resource
    reformatting quality: access
    form: remote
    extent: XII, 118 p. 49 illus., 24 illus. in color. online resource.
  abstract: Vision-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.
  table of contents: Introduction -- Robust visual control based on the epipolar geometry -- A robust control scheme based on the trifocal tensor -- Dynamic pose-estimation for visual control -- Conclusions.
  note: by Héctor . M Becerra, Carlos Sagüés.
  subject:
    topic: Engineering
  subject:
    topic: Artificial intelligence
  subject:
    topic: Image processing
  subject:
    topic: Control engineering
  subject:
    topic: Robotics
  subject:
    topic: Automation
  subject:
    topic: Engineering
  subject:
    topic: Robotics and Automation
  subject:
    topic: Artificial Intelligence (incl. Robotics)
  subject:
    topic: Control
  subject:
    topic: Image Processing and Computer Vision
  classification: TJ210.2-211.495
  classification: T59.5
  classification: 629.892
  related item:
    title info:
      title: Springer eBooks
  related item:
    title info:
      title: Springer Tracts in Advanced Robotics, 103
  identifier: 9783319057835
  identifier: http://dx.doi.org/10.1007/978-3-319-05783-5
  record info:
    record creation date: 140326
    record change date: 20151120220534.0
    record identifier: 978-3-319-05783-5