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Omni-directional Visual Servoing for Human-Robot interaction

Peng Chang and Martial Hebert
Conference Paper, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98), Vol. 3, pp. 1801 - 1807, October, 1998

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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.

BibTeX Reference
@conference{Chang-1998-14770,
title = {Omni-directional Visual Servoing for Human-Robot interaction},
author = {Peng Chang and Martial Hebert},
booktitle = {Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '98)},
month = {October},
year = {1998},
volume = {3},
pages = {1801 - 1807},
}
2017-09-13T10:49:18+00:00