L. Sun, S. Uchikado, M. Kawata, and K. Tanaka (Japan)
Robotics, Vanishing Point, Epipole, Perspective projection
In this paper, we analyze the vanishing point visual control method from a navigation viewpoint and can have some pieces of useful information, that is, we can make up an image that will be taken at an arbitrary point based on a current image and a relationship between the length of a line segment and a rotational angle can be led. One of these results will lead us to need no a priori goal/final image that the standard visual servoing as mentioned before is surely required. Consequently, these results can be useful for changing lanes, turning at a corner and recovering the lane after obstacle avoidance in navigation of the mobile robot.
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