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Visual Servoing in the Large
The International Journal of Robotics Research, 05/21/09

Fontanelli D et al. - The authors consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-of-view of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally, the authors propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal.

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