University of Minnesota
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Visual Servoing of a Miniature Robot Toward a Marked Target

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patrick [at] (Patrick Rö├čler)
stoeter [at] (Sascha A. Stoeter)
rybski [at] (Paul E. Rybski)
npapas [at] (Nikos Papanikolopoulos)

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The paper describes a system that servos a miniature robot toward a marked target based on visual information from the robot's own camera. This task is divided into two subtasks: recognition of the target and driving toward the target while updating the estimation of its position. This system deals with the problems introduced by noisy camera images and unstructured non-static backgrounds. A description of the control software is given and experimental results arediscussed.

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