Feature tracking for visual servoing purposes
نویسندگان
چکیده
Object tracking is an important issue for research and application related to visual servoing and more generally for robot vision. In this paper, we address the problem of realizing visual servoing tasks on complex objects in real environments. We briefly present a set of tracking algorithms (2D features-based or motion-based tracking, 3D model-based tracking, . . . ) that have been used for ten years to achieve this goal.
منابع مشابه
Visual Tracking using Kernel Projected Measurement and Log-Polar Transformation
Visual Servoing is generally contained of control and feature tracking. Study of previous methods shows that no attempt has been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize these two parts together and to make an entire control loop. This main target is accomplished by using Lyapanov theory. A Lyapanov candidat...
متن کاملA unified approach to visual tracking and servoing
In this paper, we present a generic and flexible system for vision-based robot control. The system integrates several research areas (visual matching, visual tracking and visual servoing) in a unifying framework. In this framework, the flexibility is obtained using a template matching algorithm based on an efficient second-order minimization. Contrarily to feature-based visual servoing schemes,...
متن کاملVisual Torch Position Control Using Fuzzy-Servoing Controller for Arc Welding Process
In this paper, we propose a fuzzy-servoing controller method for automatic welding. The proposed method uses a vision based arc tracking to find the initial points of the weld seam and to track them without a prior knowledge. Due to a serious melt down in the weld pool during the welding process, the method requires to control the welding torch in two directions, up-down and left-right directio...
متن کاملVirtual Visual Servoing for Real-Time Robot Pose Estimation
We propose a system for markerless pose estimation and tracking of a robot manipulator. By tracking the manipulator, we can obtain an accurate estimate of its position and orientation necessary in many object grasping and manipulation tasks. Tracking the manipulator allows also for better collision avoidance. The method is based on the notion of virtual visual servoing. We also propose the use ...
متن کاملVisual Tracking of a Hand-Eye Robot for a Moving Target Object with Multiple Feature Points: Translational Motion Compensation Approach
In this paper, we propose a visual tracking control method of a hand-eye robot for a moving target object with multiple feature points. The hand-eye robot is composed of a three degrees-offreedom planar manipulator and a single CCD camera that is mounted on the manipulator’s endeffector. The control objective is to keep all feature points of the target object around their desired coordinates on...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
- Robotics and Autonomous Systems
دوره 52 شماره
صفحات -
تاریخ انتشار 2005