Title :
Application of moment invariants to visual servoing
Author :
Tahri, Omar ; Chaumette, François
Author_Institution :
IRISA-INRIA, Rennes, France
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.
Keywords :
control nonlinearities; invariance; motion control; robot vision; servomechanisms; 2D decoupled visual servoing; camera; complex shape objects; eye-in-hand system; interaction matrix nonlinearity; moment invariants; motion control; planar objects; six degrees of freedom; visual servoing; Cameras; Jacobian matrices; Motion control; Proportional control; Robot control; Robot vision systems; Shape; Transmission line matrix methods; Velocity control; Visual servoing;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1242261
