Tahri04a
O. Tahri, F. Chaumette. Image moments: Generic descriptors for decoupled image-based visual servo. In IEEE Int. Conf. on Robotics and Automation, ICRA'04, Volume 2, Pages 1185-1190, New Orleans, Louisiana, April 2004.
Download [help]
Download Hal paper:
Download paper:
Adobe portable document (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
Abstract
Moments are generic and (usually) intuitive descriptors that can be computed from several kinds of objects defined either from closed contours (continuous object) or a set of points (discrete object). In this paper, we propose to use moments to design a decoupled image-based visual servo. The analytical form of the interaction matrix related to the moments computed for a discrete object is derived, and we show that it is different of the form obtained for a continuous object. Six visual features are selected to design a decoupled control scheme when the object is parallel to the image plane. This nice property is then generalized to the case where the desired object position is not parallel to the image plane. Finally, experimental results are presented to illustrate the validity of our approach and its robustness with respect to modeling errors
Keyword
[ Robotics ]
Contact
BibTex Reference
@InProceedings{Tahri04a,
Author = {Tahri, O. and Chaumette, F.},
Title = {Image moments: Generic descriptors for decoupled image-based visual servo},
BookTitle = {IEEE Int. Conf. on Robotics and Automation, ICRA'04},
Volume = { 2},
Pages = {1185--1190},
Address = {New Orleans, Louisiana},
Month = {April},
Year = {2004}
}
EndNote Reference [help]
Get EndNote Reference (.ref)