Name
Abstract | ||
|---|---|---|
We present an approach for the design and control of both reflexive and purposive visual tasks. The approach is based on the bidimensional appearance of the objects in the environment and explicitly takes into account independent object motions. A linear model of camera-object interaction is embedded in the control scheme, which dramatically simplifies visual analysis and control by reducing the size of visual representation. We describe the implementation of three visual tasks of increasing complexity, obtained with the proposed scheme and based on the active contour analysis and polynomial planning of image contour transformations. Both simulations and real-time experiments with a robotic eye-in-hand configuration are discussed, validating the approach in terms of robustness and applicability to visual navigation, active exploration and perception, and human-robot interaction |
Year | DOI | Venue |
|---|---|---|
1999 | 10.1109/3468.736363 | IEEE Transactions on Systems, Man, and Cybernetics, Part A |
Keywords | Field | DocType |
visual navigation,task planning,robots,real time systems,visual task,camera-object interaction,human-robot interaction,active exploration,compact visual representation,motion estimation,vision-guided robotics.,task specification,visual representation,task specification and plan- ning,edge detection,path planning,simplifies visual analysis,purposive visual task,image-based robot task planning,navigation,index terms— active and real-time vision,image contour,active contour analysis,control scheme,real-time systems,robot vision,feedback,real time,human robot interaction,robustness,image analysis,motion control,linear model,visual analysis,active contour,indexing terms,visual servoing | Motion planning,Active contour model,Computer vision,Polynomial,Computer science,Linear model,Edge detection,Robustness (computer science),Artificial intelligence,Motion estimation,Robot | Journal |
Volume | Issue | ISSN |
29 | 1 | 1083-4427 |
Citations | PageRank | References |
18 | 1.20 | 14 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Carlo Colombo | 1 | 633 | 52.34 |
| B. Allotta | 2 | 20 | 1.65 |