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F. Dionnet, E. Marchand. Stereo tracking and servoing for space applications. Advanced Robotics, 23(5):579-599, April 2009.

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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 3D tracking. This method is similar to more classical non-linear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and miss-tracking


Eric Marchand

BibTex Reference

   Author = {Dionnet, F. and Marchand, E.},
   Title = {Stereo tracking and servoing for space applications},
   Journal = {Advanced Robotics},
   Volume = {    23},
   Number = {5},
   Pages = {579--599},
   Publisher = {Brill},
   Month = {April},
   Year = {2009}

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