Dynamic feature point detection for visual servoing using multiresolution critical-point filters

Abslmct-In this paper we examine the selection of feature points for visual servoing methods using multiresolution critical-point P ten (CPF). With the increased number of feature points made available to us using CPF, we hope to improve the robustness of the system by allowing the algorithm to automatically detert usable feature points on virtually any object without any a priori knowledge of the object. Furthermore, the algorithm will revise these points at each iteration to account for events that may have otherwise caused feature points to be lost and led lo the visual YNU method ending in failure.