Abstract :
The purpose of this paper is to describe a new method for tracking trajectories specified in the image space. This method, called movement flow-based visual servoing system, is applied to an eye-in-hand robot and it is shown that it allows the correct tracking of a trajectory, not only in the image but also in the 3-D space. This method is also extended to the case in which the object from which the features are extracted, is in motion. To do so, the estimations obtained, using several Kalman filters, are integrated in the control action
Keywords :
Kalman filters; feature extraction; filtering theory; motion estimation; object detection; position control; robot vision; 3D image space; Kalman filters; eye-in-hand robot; feature extraction; movement flow based visual servoing system; moving object tracking; trajectory tracking; Cameras; Costs; Feature extraction; Filters; Orbital robotics; Robot kinematics; Stability; Tracking; Trajectory; Visual servoing;
