Visual Servoing on Image Maps

Antonio Danesi, Daniele Fontanelli, Antonio Bicchi

Abstract: In this paper we consider the problem of servoing wheeled vehicles in an indoor, initially unknown environment. The proposed approach relies on a hybrid (metric and topological) map built on visual cues. Navigation is planned using topological information to trace a path through viapoints that can be robustly performed by visual servoing control to accurately reach the goal positions.