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

被引：229
|
作者：
Tahri, O [1 ]
Chaumette, F
机构：
[1] CEA, LIST, F-92265 Fontenay Aux Roses, France
[2] INRIA Rennes, IRISA, F-35042 Rennes, France
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 06期
关键词：
image moment; invariant; visual servoing;
D O I：
10.1109/TRO.2005.853500
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 from 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.
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页码：1116 / 1127
页数：12
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