DocumentCode
436087
Title
Movement flow-based visual servoing to track moving objects
Author
Pomares, J. ; Torres, F.
Author_Institution
Alicante Univ.
Volume
15
fYear
2004
fDate
June 28 2004-July 1 2004
Firstpage
241
Lastpage
246
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Congress, 2004. Proceedings. World
Conference_Location
Seville
Print_ISBN
1-889335-21-5
Type
conf
Filename
1438559
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