Unicycle-like Robots with Eye-in-Hand Monocular Cameras: From PBVS towards IBVS - Visual Servoing via Advanced Numerical Methods - page 336

Fig. 18.4 External views (left column) and subjective images (right column) as taken from
the vehicle, in the initial configuration (top row) and in the final configuration (bottom row),
after reaching convergence under the proposed visual feedback control scheme. The bottom
right image should be compared with the target image in Figure 18.3

F , 6

6

( I ,

x

)

6

F

5

( I ,

x

)

, 5

5

F

, 7

F , 4

7

3

( I ,

x

)

( I ,

x

)

4

( I ,

x

)

3 7

4

F 2

F

, 3

2

( I ,

x

)

2

1

( I ,

x

)

1

Fig. 18.5 The topological image-based map

collects a set of images and, for each pair of images, say I i and I j , it estimates the
3D coordinates of the image feature points F ij and the 3D robot positions ξ j .

The experimental mapping process runs for 50 seconds and the sampling period
( i.e. the inverse of the frequency of the EKF steps) is T = 0

ξ i and

1 seconds. The sam-
pling period T is determined by the worst-case frame rate available for commercial

.