The Geometry of Confocal Curves for Passing Through a Door.
IEEE Transactions on Robotics(2015)
摘要
This paper presents a geometric approach to the problem of steering a robot subject to nonholonomic constraints through a door by using only visual measurements coming from a single fixed on-board monocular camera. The door is represented by two landmarks located on its vertical supports. After exploring the geometric structure that naturally emerges from the problem statement, e.g., bundle of hyp...
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关键词
Vehicles,Cameras,Feedback control,Geometry,Robot vision systems
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