Selection of features and evaluation of visual measurements for 3-D robotic visual tracking

Author

Papanikolopoulos, N.P. ; Khosla, P.K.

Author_Institution

Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA

fYear

1993

fDate

25-27 Aug 1993

Firstpage

320

Lastpage

325

Abstract

An overview is presented of the vision techniques that are used in order to automatically select features, measure features´ displacements, and evaluate measurements during 3-D robotic visual tracking. The most robust technique proves to be the sum-of-squared differences (SSD) optical flow technique. Several techniques for the evaluation of the measurements are presented. These techniques can also be used for the selection of features for tracking in conjunction with several numerical criteria that guarantee the robustness of the servoing. The results from the application of these techniques to real images are discussed

Keywords

feature extraction; image sequences; position control; robot vision; stereo image processing; tracking; 3-D robotic visual tracking; feature selection; optical flow; robot vision; servoing; sum-of-squared differences; visual measurements; Displacement measurement; Identity-based encryption; Image motion analysis; Noise measurement; Optical sensors; Robot vision systems; Robotics and automation; Robustness; Shape measurement; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on

Conference_Location

Chicago, IL

ISSN

2158-9860

Print_ISBN

0-7803-1206-6

Type

conf

DOI

10.1109/ISIC.1993.397693

Filename

397693