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Carnegie Mellon Robotics Institute

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Abstract

We describe a visual servoing system developed as a human-robot interface to drive a mobile robot toward any chosen target. An omni-directional camera is used to get the 360 degree of field of view, and an efficient tracking technique is developed to track the target. The use of the omni-directional geometry eliminates, many of the problems common in visual tracking and makes the use of visual servoing a practical alternative for robot-human interaction. The experiments demonstrate that it is an effective and robust way to guide a robot. In particular the experiments show robustness of the tracker to loss of template, vehicle motion, and change in scale and orientation.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

Peng Chang and Martial Hebert, "Omni-directional Visual Servoing for Human-Robot interaction," Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), October, 1998, pp. 1801 - 1807.

BibTeX Reference

@inproceedings{Chang_1998_1296,
   author = "Peng Chang and Martial Hebert",
   title = "Omni-directional Visual Servoing for Human-Robot interaction",
   booktitle = "Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98)",
   pages = "1801 - 1807",
   month = "October",
   year = "1998",
   volume = "3",
}

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