Information Technology Reference
In-Depth Information
Fig. 18.3
Image grabbed from the target position, with the four selected control features
shown in detail
implemented under Linux on a 300MHz PentiumII
1
PC equipped with a Matrox
2
MeteorI frame grabber. The XVision library is used to compute optical flow and to
track features. The hardware communication between the robot and the PC is per-
formed by a RS-232 serial cable. In this experiment, the PBVS controller alone is
shown. Four features from the scene are used as the desired feature set, belonging
to the desired image, recorded in a preliminary phase of the experiment (see Figure
18.3). Images grabbed from the robot camera in the initial, offset configuration and
at the end of the visually-servoed parking maneuver are shown in Figure 18.4, along
with ground-reference views showing the experimental environment.
In the second experimental set-up, a low-cost apparatus was employed to high-
light the potential of the proposed technique. The experimental setup is comprised
of a K-Team Koala vehicle, equipped with a commercial web-cam placed on the
front part of the robot platform. The controller is implemented under Windows XP
on a 1130MHz Pentium III laptop mounted on-board. SIFT elaboration is performed
using evolution robotics software platform (ERSP) vision library (see [17, 19]). The
Intel OpenCV library was used to compute optical flow and to track features. The
hardware communication between the robot and the laptop is again performed by a
RS-232 serial cable.
In the experiments both the mapping phase (topological and metric) and the nav-
igation phase (visual servoing) are reported. In the mapping experiment, the robot
Pentium
TM
1
is
a
trademark
of
Intel
Corporation
in
the
U.S.
and
other
countries.
http://www.intel.com.
2
Matrox and the names of Matrox products referenced herein are either trademarks
and/or
service
marks
or
registered
trademarks
and/or
service
marks
of
Matrox.
http://www.matrox.com
Search WWH ::
Custom Search