NDLI: A Shape Tracking Algorithm for Visual Servoing

Content Provider	IEEE Xplore Digital Library
Author	Peihua Li Chaumette, F. Tahri, O.
Copyright Year	2005
Description	Author affiliation: IRISA/INRIA Rennes Campus de Beaulieu, 35 042 Rennes-cedex, France; College of Computer Science and Technology, Heilongjiang University, Heilongjiang Province, 150001, China, pei-hualj@hotmail.com, Peihua.Li@irisa.fr (Peihua Li)
Abstract	The paper contributes to presenting both an accurate and robust shape tracking algorithm and a novel visual servoing method. Two steps are involved in the tracking algorithm. Firstly the object shape is assumed to vary under an affine model, and the edge detection is performed along the normal lines to the contour. As a result it is possible to use a Kalman filter to perform efficient tracking. The second step concerns image matching based on perspective model, which is achieved iteratively by searching locally along the normal lines also. As to visual servoing we propose to control the translations of the robot with the normalized zeroth and first order image moments, and to control the orientation with rotation axis and angle extracted from a Homography matrix. Two experiments demonstrate that the tracking algorithm is accurate and robust enough to be used in visual servoing, and the novel visual servoing method is superior to traditional ones.
Starting Page	2847
Ending Page	2852
File Size	864339
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570545
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visual servoing Robustness Shape control Transmission line matrix methods Cameras Image matching Robot vision systems Control systems Particle filters Image edge detection Object tracking Kalman filter
Content Type	Text
Resource Type	Article

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