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Journal Articles The International Journal of Robotics Research Year : 2001

Application of Motion-Based Visual Servoing to Target Tracking

Abstract

In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of design- ing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration necessary to reduce the tracking error. A second method, more efficient for target tracking, consists of retrieving the target position in the im- age from its estimated motion. This leads to classical image-based visual servoing. For both methods, experimental results obtained at video rate are presented and discussed.
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Dates and versions

hal-03396150 , version 1 (22-10-2021)

Identifiers

  • HAL Id : hal-03396150 , version 1

Cite

Armel Crétual, François Chaumette. Application of Motion-Based Visual Servoing to Target Tracking. The International Journal of Robotics Research, 2001, 20 (11), pp.878-890. ⟨hal-03396150⟩
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