Title :
Formulation of radiometric feasibility measures for feature selection and planning in visual servoing
Author :
Janabi-Sharifi, Farrokh ; Ficocelli, M.
Author_Institution :
Dept. of Mech. & Ind. Eng., Ryerson Univ., Toronto, Ont., Canada
fDate :
4/1/2004 12:00:00 AM
Abstract :
Feature selection and planning are integral parts of visual servoing systems. Because many irrelevant and nonreliable image features usually exist, higher accuracy and robustness can be expected by selecting and planning good features. Assumption of perfect radiometric conditions is common in visual servoing . This paper discusses the issue of radiometric constraints for feature selection in the context of visual servoing. In this paper radiometric constraints are presented and measures are formulated to select the optimal features (in a radiometric sense) from a set of candidate features. Simulation and experimental results verify the effectiveness of the proposed measures.
Keywords :
computer vision; feature extraction; feature selection; image features; radiometric conditions; radiometric constraints; radiometric feasibility measures; visual servoing planning; Cameras; Control systems; Educational robots; Manipulators; Radiometry; Robot sensing systems; Robotics and automation; Robustness; Service robots; Visual servoing;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMCB.2003.818534