DocumentCode
2248299
Title
Application of moment invariants to visual servoing
Author
Tahri, Omar ; Chaumette, François
Author_Institution
IRISA-INRIA, Rennes, France
Volume
3
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
4276
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1242261
Filename
1242261
Link To Document