Extended Visual Servoing

Abstract

We present initial progress on so-called extended visual servoing, an integrated approach of controlling mobile robots equipped with multiple sensors. Our approach to sensor fusion uses the mathematical framework of visual servoing for a higher dimensional feature space that incorporates other sensors in addition to vision (which still plays a central role). Analysis and simulation on a planar mobile robot with "vision + sonar" shows the initial success of the approach.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2003
Accession Number
ADA603493

Entities

People

  • Hong Zhang
  • Noah J. Cowan

Organizations

  • University of California, Berkeley

Tags

Communities of Interest

  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Collision Avoidance
  • Computer Science
  • Control Systems
  • Coordinate Systems
  • Image Processing
  • Measurement
  • Robots
  • Sensor Fusion
  • Simulations
  • Trajectories
  • Universities
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Aerospace Research.
  • Computational Fluid Dynamics (CFD)
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Spacecraft Maneuvers