We previously proposed a method to estimate robot egomotion from the deformation of a contour in the images acquired by a robot-mounted camera [2, 1]. The fact that the contour should always be viewed under weak-perspective conditions limits the applicability of the method. In this paper, we overcome this limitation by controlling the zoom so as to compensate for robot translation along the optic axis. Our control entails minimizing an error signal derived directly from image measurements, without requiring any 3D information. Moreover, contrarily to other 2D control approaches, no point correspondences are needed, since a parametric measure of contour deformation suffices. As a further advantage, the error signal is obtained as a byproduct of egomotion estimation and, therefore, it does not introduce any burden in the computation. Experimental results validate this zooming extension to the method. Moreover, robot translations are correctly computed, including those along the optic axis.

Peer Reviewed