Informations

Type
inproceedings
Key
2008_iros_folio
Authors
Folio, David and Cadenat, Viviane
http://doi.org/10.1109/IROS.2008.4650743
2008_iros_folio.

Abstract

This paper deal with the problem of executing a vision-based task in an unknown environment. During such a task, two unexpected events may occur: the image data loss due to a camera occlusion and the robot collision with obstacles. We first propose a method allowing to compute the visual data when they are totally lost, before addressing the obstacle avoidance problem. Then, we design a sensor-based control strategy to perform safely vision-based tasks despite complete loss of the image. Simulation and experimental results validate our work.

Keyword

  • camera occlusion
  • obstacle avoidance
  • robot collision
  • sensor-based controller
  • total image loss
  • vision-based navigation task
  • collision avoidance
  • image sensors
  • robot vision

BibTeX:

 @inproceedings{2008_iros_folio,
  title = {A sensor-based controller able to treat total image loss and to guarantee non-collision during a vision-based navigation task},
  author = {Folio, David and Cadenat, Viviane},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2008)},
  year = {2008},
  doi = {10.1109/IROS.2008.4650743},
  month = sep,
  pages = {3052--3057},
  address = {Nice, France},
  keywords = {camera occlusion,obstacle avoidance, robot collision, sensor-based controller, total image loss, vision-based navigation task, collision avoidance, image sensors, robot vision}
}