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Visual Servoing of a Miniature Robot Toward a Marked Target

Report Number:

02-005

Date of Submission:

1/31/2002

Authors:


patrick [at] roessi.de (Patrick Rößler)
stoeter [at] cs.umn.edu (Sascha A. Stoeter)
rybski [at] cs.umn.edu (Paul E. Rybski)
npapas [at] cs.umn.edu (Nikos Papanikolopoulos)

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Abstract:

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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