Title :
Robotic visual servoing system based on SIFT features
Author :
Maxim, Anca ; Lazar, Corneliu ; Burlacu, Adrian ; Copot, Cosmin
Abstract :
This paper presents a robotic visual servoing system based on SIFT features and its implementation for realtime control of a robot manipulator. The reason for this choice was features scale-invariance property and also the descriptor used in the matching process for computing the error between current and desired image. For the error minimization, a proportional controller is used. In the experimental results is revealed the importance of correct choice of SIFT parameters, while in the end are obtained very good performances of realtime visual servoing system.
Keywords :
image matching; manipulators; minimisation; proportional control; real-time systems; robot vision; visual servoing; SIFT features; SIFT parameters; error computation; error minimization; matching process; proportional controller; real-time control; real-time visual servoing system; robot manipulator; robotic visual servoing system; scale-invariance property; Cameras; Detectors; Feature extraction; Real-time systems; Robot kinematics; Visual servoing;
Conference_Titel :
System Theory, Control and Computing (ICSTCC), 2012 16th International Conference on
Conference_Location :
Sinaia
Print_ISBN :
978-1-4673-4534-7
