Vision-based trajectory tracking for mobile robots using Mirage pose estimation method

Semih Dinc, Farbod Fahimi, Ramazan Aygun
2016 IET Computer Vision  
Unmanned vehicles are autonomous robotic systems that are fully or partially controlled by an operator remotely from a station. In the last 2 decades, massive amount of advancements have been observed regarding unmanned vehicles for both military and civilian purposes. Today majority of these vehicles require human guidance even for basic missions, thus, minimizing the human intervention on such systems is one of the emerging research topics. To serve this purpose, this study proposes a new
more » ... ectory tracking algorithm using M irage pose estimation method. Mirage employs target pixel errors in 2D image plane and analytically calculates the robot's pose in 3D Euclidean space. Therefore, complex computations are not needed and undesirable Euclidean trajectories are avoided since the vehicle pose is directly controlled. We performed both simulations and real experiments to verify the effectiveness of our method. The results show that the proposed method is a feasible alternative for vision-based Euclidean trajectory tracking with high accuracy and low complexity.
doi:10.1049/iet-cvi.2015.0153 fatcat:iqe4a3hcqzegrnia7czub3763i