Application of Motion-Based Visual Servoing to Target Tracking
Résumé
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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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