Visual navigation with a time-independent varying reference

— In this paper, we present a controller for visual navigation, which utilizes a time-independent varying reference in the feedback law. The navigation framework relies on a monocular camera, and the path is represented as a series of key images. The varying reference is determined using a vector field, derived from the previous and next key images. Results in a simulated environment, as well as on a real robot, show the advantages of the varying reference, with respect to a fixed one, in the image, as well as in the 3D state space.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Andrea Cherubini, François Chaumette
• Keywords: IROS 2009, Key Images, Robotics, Time-independent Varying Reference, Visual Navigation