%0 Conference Proceedings
%F Comport04e
%A Comport, A.I.
%A Marchand, E.
%A Chaumette, F.
%T Robust model-based tracking for robot vision
%B IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'04
%V 	 1
%P 692-697
%C Sendai, Japan
%X This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for monocular 3D tracking. This method is similar to more classical non-linear pose computation techniques. A concise method for derivation of efficient distance-to-contour interaction matrices is described. An oriented edge detector is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several 2D 1/2 visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and miss-tracking
%U http://rainbow-doc.irisa.fr/pdf/2004_iros_comport.pdf
%U http://dx.doi.org/10.1109/IROS.2004.1389433
%8 September
%D 2004