Range and pose estimation for visual servoing of a mobile robot

Abstract

This paper describes the implementation of behaviour for real-time visual servoing on a mobile robot. The behaviour is a component of a multi-robot cleaning system developed in the context of our investigation into architectures for cooperative systems. An important feature for support of cooperation is the awareness of one robot by another, which this behaviour realises. Robust feature tracking aided by a hardware vision system is described. This forms the basis for range and pose estimation using a 3D projective model.