Direct visual servoing using ZNCC criterion - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2012

Direct visual servoing using ZNCC criterion

Résumé

This paper proposes a direct visual scheme. In direct visual servoing approaches, the goal is to consider all the image as a whole. Therefore we do no rely on a feature extraction or tracking process. In nominal condition, these approaches have proved to be robust and very precise. In this paper, we proposed to consider a new metric that is the Zero mean Normalized Cross-Correlation function (ZNCC). This correlation criterion is known to be more robust that the classical SSD to linear brightness variations. This paper gives the expressions required to perform a ZNCC-based visual servoing task. Experimental results demonstrates the efficiency of the proposed method.
Fichier principal
Vignette du fichier
ncc.pdf (1.46 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01683329 , version 1 (16-01-2018)

Identifiants

  • HAL Id : hal-01683329 , version 1

Citer

Amaury Dame, Eric Marchand. Direct visual servoing using ZNCC criterion. 2012. ⟨hal-01683329⟩
240 Consultations
240 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More