Omni-directional Visual Servoing for Human-Robot interaction - Robotics Institute Carnegie Mellon University

Omni-directional Visual Servoing for Human-Robot interaction

Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 3, pp. 1801 - 1807, October, 1998

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

@conference{Chang-1998-14770,
author = {Peng Chang and Martial Hebert},
title = {Omni-directional Visual Servoing for Human-Robot interaction},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1998},
month = {October},
volume = {3},
pages = {1801 - 1807},
}