Mathematical Morphology Applied in Object Tracking on Position-Based Visual Servoing

Position-based visual servoing is a technique for vision-based robot control, which operates in the 3D workspace and uses a known model of the object to perform tasks of feature extraction and positioning. Among the many applications, position-based visual servoing is used in industrial environments, for object manipulation operations on conveyor belts. Mathematical morphology, a well-known computer vision technique, can be used for features extraction, representation of objects and to perform actions such as recognition by images. The representation of the object occurs with the assistance of a structuring element and the morphological operations are used to locate the object center. This work explores the binary mathematical morphology whose operators are trained by a reconfigurable system developed in a FPGA with the representation of the 3D model of the object to be applied in visual servoing in controlled applications such as tasks in industrial environments.