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Conference Papers Year : 2003

Application of moment invariants to visual servoing

Abstract

In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimise the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 DOF eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method.
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Dates and versions

inria-00352082 , version 1 (12-01-2009)

Identifiers

  • HAL Id : inria-00352082 , version 1

Cite

O. Tahri, François Chaumette. Application of moment invariants to visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'03, 2003, Taipeh, Taiwan, France. pp.4276-4281. ⟨inria-00352082⟩
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