Robust features tracking for robotic applications: towards 2 1/2 D visual servoing with natural images - Inria - Institut national de recherche en sciences et technologies du numérique
Communication Dans Un Congrès Année : 2002

Robust features tracking for robotic applications: towards 2 1/2 D visual servoing with natural images

Résumé

This paper deals with the robust tracking of features extracted from a sequence of images taken with an uncalibrated camera mounted on a mobile robot. Unlike most vision systems, the 3D structure of the observed objects is completely unknown. Thus, position-based visual servoing cannot be used. Similarly, one must be careful when using image-based visual servoing since the depths of the features are unknown. On the other hand, 2 1/2 D visual servoing can easily deal with unknown environments since it is only based on projective reconstruction. In order to obtain a good projective reconstruction for a safe vision-based control, we propose a multi-scale real-time approach to extract robust features. Experiments show that our algorithm can be used in robotics applications when images are noisy and uncontrolled perturbations can break the continuity of the robot motion.
Fichier principal
Vignette du fichier
2002-ICRA-Espiau_Malis_Rives-Robust_features_tracking_robotic_applications_towards_2_half_D_visual_servoing_natural_images.pdf (346.31 Ko) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)
Licence

Dates et versions

hal-04652111 , version 1 (18-07-2024)

Licence

Identifiants

Citer

F.-X. Espiau, Ezio Malis, P. Rives. Robust features tracking for robotic applications: towards 2 1/2 D visual servoing with natural images. 2002 IEEE International Conference on Robotics and Automation, May 2002, Washington, United States. pp.574-579, ⟨10.1109/ROBOT.2002.1013420⟩. ⟨hal-04652111⟩

Collections

INRIA INRIA2
8 Consultations
4 Téléchargements

Altmetric

Partager

More