A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities

International Journal of Advanced Robotic Systems

关键词: Camera;    Localization;    Mapping;   

DOI  :  10.5772/54603

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera's linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.

【 授权许可】

CC BY