Visual servo with template update for a deformable moving object

A monocular visual servo system for a target with variable shape has been developed in this paper. It consists of two parts: an image-processing unit and a servo control unit. For the image-processing unit, the motion between the target and image center is determined by a template match approach. The image is grabbed by a video camera equipped on a pan-tilt robot and the robot is controlled to track the target by maintaining the target on the image center. However, the template needs to be updated when the target deforms. For the servo control unit, the movement is estimated by the Kalman filter technique to enhance the tracking performance of the visual servo system.