Point-based and region-based image moments for visual servoing of planar objects - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Journal Articles IEEE Transactions on Robotics Year : 2005

Point-based and region-based image moments for visual servoing of planar objects

Abstract

Moments are generic (and usually intuitive) descriptors that can be computed from several kinds of objects defined either from closed contours or from a set of points. In this paper, we present improvements in image-based visual servo using image moments. First, the analytical form of the interaction matrix related to the moments computed from a set of coplanar points is derived, and we show that it is different of the form obtained previously using coplanar closed contours. Six visual features are selected to design a decoupled control scheme when the object is parallel to the image plane. This nice property is then generalized to the case where the desired object position is not parallel to the image plane. Finally, experimental results are presented to illustrate the validity of our approach and its robustness with respect to modeling errors.
Fichier principal
Vignette du fichier
2005_itro_tahri.pdf (2.73 Mo) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

inria-00351908 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00351908 , version 1

Cite

O. Tahri, François Chaumette. Point-based and region-based image moments for visual servoing of planar objects. IEEE Transactions on Robotics, 2005, 21 (6), pp.1116-1127. ⟨inria-00351908⟩
207 View
696 Download

Share

Gmail Facebook X LinkedIn More