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A unified strategy for landing and docking using spherical flow divergence

McCarthy , Christopher; Barnes, Nick

Description

We present a new visual control input from optical flow divergence enabling the design of novel, unified control laws for docking and landing. While divergence-based time-to-contact estimation is well understood, the use of divergence in visual control currently assumes knowledge of surface orientation, and/or egomotion. There exists no directly observable visual cue capable of supporting approaches to surfaces of arbitrary orientation under general motion. Central to our measure is the use of...[Show more]

dc.contributor.authorMcCarthy , Christopher
dc.contributor.authorBarnes, Nick
dc.date.accessioned2015-12-10T23:12:05Z
dc.identifier.issn0162-8828
dc.identifier.urihttp://hdl.handle.net/1885/63959
dc.description.abstractWe present a new visual control input from optical flow divergence enabling the design of novel, unified control laws for docking and landing. While divergence-based time-to-contact estimation is well understood, the use of divergence in visual control currently assumes knowledge of surface orientation, and/or egomotion. There exists no directly observable visual cue capable of supporting approaches to surfaces of arbitrary orientation under general motion. Central to our measure is the use of the maximum flow field divergence on the view sphere (max-div). We prove kinematic properties governing the location of max-div, and show that max-div provides a temporal measure of proximity. From this, we contribute novel control laws for regulating both approach velocity and angle of approach toward planar surfaces of arbitrary orientation, without structure-from-motion recovery. The strategy is tested in simulation, over real image sequences and in closed-loop control of docking/landing maneuvers on a mobile platform.
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE Inc)
dc.sourceIEEE Transactions on Pattern Analysis and Machine Intelligence
dc.subjectKeywords: Arbitrary orientation; Closed-loop control; Control laws; Ego-motion; Kinematic properties; Maximum flows; Mobile platform; Optical flow divergence; Planar surface; Real image sequences; Spherical flow; Structure from motion; Surface orientation; Time-to- optical flow; Robot vision; visual navigation; visuo-motor control
dc.titleA unified strategy for landing and docking using spherical flow divergence
dc.typeJournal article
local.description.notesImported from ARIES
local.identifier.citationvolume34
dc.date.issued2012
local.identifier.absfor080104 - Computer Vision
local.identifier.absfor090602 - Control Systems, Robotics and Automation
local.identifier.ariespublicationf5625xPUB869
local.type.statusPublished Version
local.contributor.affiliationMcCarthy , Christopher, College of Engineering and Computer Science, ANU
local.contributor.affiliationBarnes, Nick, College of Engineering and Computer Science, ANU
local.description.embargo2037-12-31
local.bibliographicCitation.issue5
local.bibliographicCitation.startpage1024
local.bibliographicCitation.lastpage1031
local.identifier.doi10.1109/TPAMI.2012.27
local.identifier.absseo970109 - Expanding Knowledge in Engineering
dc.date.updated2016-02-24T09:43:27Z
local.identifier.scopusID2-s2.0-84859182633
local.identifier.thomsonID000301747400015
CollectionsANU Research Publications

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