Robotic visual servoing based on snakes

In this paper, a robotic visual servoing based on snakes (or active contours) is presented. The approach uses a combination of active contours with image optical flow for tracking image contours related to the object of interest. The active contours provide global information about the position of the object. When visual servoing is combined with the use of active contours, movement of the camera can be controlled by these information. The proposed method fulfils real-time tracking as well as reliability and robustness requirements. Several experiments were performed to verify the potential of our approach