DocumentCode :
1474673
Title :
Photometric Visual Servoing
Author :
Collewet, Christophe ; Marchand, Eric
Author_Institution :
Lagadic Team, INRIA Rennes-Bretagne Atlantique, Rennes, France
Volume :
27
Issue :
4
fYear :
2011
Firstpage :
828
Lastpage :
834
Abstract :
This paper proposes a new way to achieve robotic tasks by two-dimensional (2-D) visual servoing. Indeed, instead of using classical geometric features such as points, straight lines, pose, or a homography, as is usually done, the luminance of all pixels in the image is considered here. The main advantage of this new approach is that it requires no tracking or matching process. The key point of our approach relies on the analytic computation of the interaction matrix. This computation is based either on a temporal luminance-constancy hypothesis or on a reflection model so that complex illumination changes can be considered. Experimental results on positioning and tracking tasks validate the proposed approach and show its robustness to approximated depths, low-textured objects, partial occlusions, and specular scenes. They also showed that luminance leads to lower positioning errors than a classical visual servoing based on 2-D geometric visual features.
Keywords :
feature extraction; matrix algebra; robot vision; visual servoing; geometric visual feature; illumination change; interaction matrix; photometric visual servoing; reflection model; robotic task; temporal luminance-constancy hypothesis; Cameras; Computational modeling; Cost function; Lighting; Visual servoing; Visualization; Cost function; optimization; photometry; visual features; visual servoing;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2011.2112593
Filename :
5733432
Link To Document :
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