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Visual control through the trifocal tensor for nonholonomic robots
2010
Robotics and Autonomous Systems
We present a new vision-based control approach which drives autonomously a nonholonomic vehicle to a target location. The vision system is a camera fixed on the vehicle and the target location is defined by an image taken previously in that location. The control scheme is based on the trifocal tensor model, which is computed from feature correspondences in calibrated retina across three views: the initial, current and target images. The contribution is a trifocal-based control law defined by an
doi:10.1016/j.robot.2009.09.005
fatcat:xtjv3lbslbem7p524jq7bqxtoi