Jump to : Download | Abstract | Keyword | Contact | BibTex reference | EndNote reference |


F. Chaumette. Image moments: a general and useful set of features for visual servoing. IEEE Trans. on Robotics, 20(4):713-723, August 2004.

Download [help]

Download Hal paper: Hal : Hyper Archive en ligne

Download paper: Adobe portable document (pdf) pdf

Copyright notice:

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. This page is automatically generated by bib2html v217, © Inria 2002-2024, Projet Lagadic/Rainbow


In this paper, we determine the analytical form of the interaction matrix related to any moment that can be computed from segmented images. The derivation method we present is based on Green's theorem. We apply this general result to classical geometrical primitives. We then consider using moments in image-based visual servoing. For that, we select six combinations of moments to control the six degrees of freedom of the system. These features are particularly adequate if we consider a planar object and the configurations such that the object and camera planes are parallel at the desired position. The experimental results we present show that a correct behavior of the system is obtained if we consider either a simple symmetrical object or a planar object with complex and unknown shape


[ Robotics ]


Francois Chaumette

BibTex Reference

   Author = {Chaumette, F.},
   Title = {Image moments: a general and useful set of features for visual servoing},
   Journal = {IEEE Trans. on Robotics},
   Volume = {    20},
   Number = {4},
   Pages = {713--723},
   Publisher = {IEEE},
   Month = {August},
   Year = {2004}

EndNote Reference [help]

Get EndNote Reference (.ref)