Colorimetry-based visual servoing

The goal of this paper is to present a way to perform visual servoing tasks from color attributes. This approach can be seen as an extension of our previous papers based on the luminance. Indeed, as we did for the luminance, color attributes are directly used in the control law avoiding therefore any complex images processing as features extraction or matching. We propose in this paper several potential color features and then a way to select a priori the best choice among them with respect to the scene being observed. Experimental results validate as well the interest of using color attributes as visual features as our selection process.