Name
Title | ||
|---|---|---|
Robust features tracking for robotic applications: towards 2 1/2 D visual servoing with natural images |
Abstract | ||
|---|---|---|
This paper concerns the robust tracking of some features extracted from a sequence of images taken with an uncalibrated camera mounted on a mo- bile robot. Unlike most vision systems, the 3D struc- ture of the observed objects is completely unknown. Thus, position-based visual servoing cannot be used. Similarly, one must be careful when using image-based visual servoing since the depths of the features are un- known. On the other hand, 2 1 2D visual servoing can easily deal with unknown environments since it is only based on projective reconstruction. In order to obtain a good projective reconstruction for a safe vision-based control, we propose in this paper a multi-scale real-time approach to extract robust features. Experiments show that our algorithm can be used in robotics applications when images are noisy and uncontrolled perturbations can break the continuity of the robot motion. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1013420 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
feature extraction,image reconstruction,image sequences,mobile robots,optical tracking,real-time systems,robot vision,servomechanisms,feature extraction,image sequence,mobile robot,projective reconstruction,real-time systems,robot vision,tracking,vision-based control,visual servoing | Iterative reconstruction,Computer vision,Computer science,Feature extraction,Control engineering,Projective reconstruction,Optical tracking,Robot motion,Visual servoing,Artificial intelligence,Mobile robot,Robotics | Conference |
Volume | Issue | Citations |
1 | 1 | 9 |
PageRank | References | Authors |
0.61 | 14 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| François-Xavier Espiau | 1 | 9 | 0.61 |
| Ezio Malis | 2 | 1322 | 80.65 |
| Patrick Rives | 3 | 254 | 17.77 |