Title :
A first step toward visual servoing using image moments
Author :
Chaumette, François
Author_Institution :
IRISA/INRIA, France
Abstract :
In this paper, we determine the analytical form of the interaction matrix related to any moments that can be computed from binary or segmented images. We then apply this theoretical result to image-based visual servoing by selecting six combinations of moments able to control the six DOF of the system. The experimental results we present show that a correct behavior of the system is obtained if we consider either a simple symmetrical object or a planar object with complex and unknown shape.
Keywords :
image segmentation; matrix algebra; robot vision; binary images; image moments; interaction matrix; segmented images; visual servoing; Application software; Cameras; Computer vision; Image analysis; Image segmentation; Pattern recognition; Robot kinematics; Shape; Transmission line matrix methods; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041418
