On Analysis of Vanishing Point Visual Control System for Image-based Visual Servoing

L. Sun, S. Uchikado, M. Kawata, and K. Tanaka (Japan)


Robotics, Vanishing Point, Epipole, Perspective projection


In this paper, we analyze the vanishing point visual control method from a navigation viewpoint and can have some pieces of useful information, that is, we can make up an image that will be taken at an arbitrary point based on a current image and a relationship between the length of a line segment and a rotational angle can be led. One of these results will lead us to need no a priori goal/final image that the standard visual servoing as mentioned before is surely required. Consequently, these results can be useful for changing lanes, turning at a corner and recovering the lane after obstacle avoidance in navigation of the mobile robot.

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