{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:46Z","timestamp":1777715866334,"version":"3.51.4"},"reference-count":29,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2009,5,20]],"date-time":"2009-05-20T00:00:00Z","timestamp":1242777600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,6]]},"abstract":"<jats:p>In this paper we 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 (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.<\/jats:p>","DOI":"10.1177\/0278364908097660","type":"journal-article","created":{"date-parts":[[2009,5,20]],"date-time":"2009-05-20T12:40:27Z","timestamp":1242823227000},"page":"802-814","source":"Crossref","is-referenced-by-count":19,"title":["Visual Servoing in the Large"],"prefix":"10.1177","volume":"28","author":[{"given":"Daniele","family":"Fontanelli","sequence":"first","affiliation":[{"name":"Interdepartment Research Center 'Enrico Piaggio' University of Pisa via Diotisalvi 2 56100 Pisa, Italy,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Danesi","sequence":"additional","affiliation":[{"name":"Interdepartment Research Center 'Enrico Piaggio' University of Pisa via Diotisalvi 2 56100 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Felipe A. W.","family":"Belo","sequence":"additional","affiliation":[{"name":"Interdepartment Research Center 'Enrico Piaggio' University of Pisa via Diotisalvi 2 56100 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paolo","family":"Salaris","sequence":"additional","affiliation":[{"name":"Interdepartment Research Center 'Enrico Piaggio' University of Pisa via Diotisalvi 2 56100 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Antonio","family":"Bicchi","sequence":"additional","affiliation":[{"name":"Interdepartment Research Center 'Enrico Piaggio' University of Pisa via Diotisalvi 2 56100 Pisa, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,20]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Benhimane, S."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.886841"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2006.250573"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339609"},{"key":"atypb5","volume-title":"IEEE Transactions on Pattern Analysis and Machine Intelligence","author":"Chiuso, A."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846447"},{"key":"atypb7","volume-title":"Proceedings of IEEE International Conference on Computer Vision","author":"Davison, A.J."},{"key":"atypb8","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Goncalves, L."},{"key":"atypb9","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Hadj-Abdelkader, H."},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/TSSC.1968.300136"},{"key":"atypb11","volume-title":"Proceedings of International Conference on Robotics and Automation","author":"Hashimoto, K."},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2000.914184"},{"key":"atypb13","volume-title":"Proceedings of International Symposium on Robotics Research","author":"Kantor, G."},{"key":"atypb14","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Karlsson, N."},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021010889"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907080737"},{"key":"atypb17","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"L\u00f3pez-Nicol\u00e1s, G."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1016\/j.imavis.2005.08.003"},{"key":"atypb19","volume-title":"European Robotics Symposium","author":"Mariottini, G."},{"key":"atypb20","unstructured":"Murrieri, P., Fontanelli, D., and Bicchi, A. (2002). Visualservoed parking with limited view angle . In B. Siciliano and P. Dario (Eds.), Experimental Robotics VIII, Volume 5 of Springer Tracts in Advanced Robotics (STAR), pp. 254- 263. Springer Verlag."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904042196"},{"key":"atypb22","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Rekleitis, I."},{"key":"atypb23","volume-title":"Proceeding of the IEEE\/RSJ Conference on Intelligent Robots and Systems","author":"Royer, E."},{"key":"atypb24","doi-asserted-by":"publisher","DOI":"10.1177\/027836402761412467"},{"key":"atypb25","volume-title":"Proceedings of Australian Conference on Robotics and Automation AGRA'99","author":"Thompson, S."},{"key":"atypb26","volume-title":"Proceedings of the AAAI Thirteenth National Conference on Artificial Intelligence","author":"Thrun, S."},{"key":"atypb27","volume-title":"SLAM Updates require constant time. Technical report","author":"Thrun, S.","year":"2002"},{"key":"atypb28","volume-title":"International Conference on Intelligent Robots and Systems. Workshop on `New Trends in Image-based Robot Servoing'","author":"Tsakiris, D."},{"key":"atypb29","volume-title":"Proceedings of the International Conference on Computer Vision (ICCV)","author":"Vedaldi, A."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908097660","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908097660","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:42Z","timestamp":1777457802000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908097660"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,5,20]]},"references-count":29,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2009,6]]}},"alternative-id":["10.1177\/0278364908097660"],"URL":"https:\/\/doi.org\/10.1177\/0278364908097660","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,5,20]]}}}