Title :
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
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;
Conference_Titel :
Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-1206-6
DOI :
10.1109/ISIC.1993.397693
