Visual navigation of uncalibrated mobile robots from uncalibrated stereo pointers

Abstract

We propose a method for navigating robots by pointing specific positions in the 3D space. In previous work of visual navigation, calibration of cameras and robots are required. In this paper, we propose a method which enables us to navigate uncalibrated mobile robots from uncalibrated stereo cameras. Especially, we show how to control both rotations and translations for navigating uncalibrated robots to specific positions. The proposed method is implemented and tested by navigating a mobile robot in real time.