2D Legendre Moments-Based Visual Control - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles Applied Mechanics and Materials Year : 2012

2D Legendre Moments-Based Visual Control


Among region-based descriptors, geometric moments have been widely exploited to design visual servoing schemes. However, they present several disadvantages such as high sensitivity to noise measurement, high dynamic range and information redundancy (since they are not computed onto orthogonal basis). In this paper, we propose to use a class of orthogonal moments (namely Legendre moments) instead of geometric moments to improve the behavior of moment-based control schemes. The descriptive form of the interaction matrix related to the Legendre moments computed from a set of points is first derived. Six visual features are then selected to design a partially-decoupled control scheme. Finally simulated and experimental results are presented to illustrate the validity of our proposal.


Fichier principal
Vignette du fichier
AMM12-Yeremou.pdf (1.02 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-02463477 , version 1 (01-02-2020)



Aurelien Yeremou Tamtsia, Youcef Mezouar, Philippe Martinet, Haman Djalo, Emmanuel Tonye. 2D Legendre Moments-Based Visual Control. Applied Mechanics and Materials, 2012, 162, pp.487-496. ⟨10.4028/www.scientific.net/AMM.162.487⟩. ⟨hal-02463477⟩
37 View
110 Download



Gmail Facebook X LinkedIn More