Mobile Robot Visual Servoing
The aim of this transfer project is the motion control problem of a wheeled mobile robot (WMR) as observed from uncalibrated ceiling cameras. We develop a method that localizes the robot in real-time and smartly drives it over a path in a large environment with a pure pursuit controller, achieving less then 5 pixel on cross track error. Experiments are reported for Ambrogio, a two-wheel differentially-driven mobile robot provided by Zucchetti Centro Sistemi.
About admin
Iacopo Masi was born on September 6, 1983 in Florence. He received a laurea degree in computer engineering from the University of Florence, with a thesis on "Feature-based Localization and Mapping of Wide Areas with a PTZ Camera" in 2009. He's currently working at Visual Information and Media Lab at Media Integration and Communication Center, University of Florence. His main research interests are focused on application of pattern recognition and computer vision specifically in the field of video-surveillance.
