Pose-estimation-based visual servoing for differential-drive robots using the 1D trifocal tensor

A pose-estimation-based approach to perform visual control for differential-drive robots is presented in this paper. Our scheme recovers the camera location (position and orientation) using an Extended Kalman Filter (EKF) algorithm with the 1D trifocal tensor (TT) as measurement model. This new visual servoing scheme allows knowing the real world path… CONTINUE READING