Paper Info
Title
Image based visual servoing using algebraic curves applied to shape alignment
Abstract
Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation. This paper presents a novel method for using boundary information in visual servoing. Object boundaries are modeled by algebraic equations and decomposed as a unique sum of product of lines. We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual servoing. Simulations are performed with a 6 DOF Puma 560 robot using Matlab Robotics Toolbox for the alignment of a free-form object. Also, experiments are realized with a 2 DOF SCARA direct drive robot. Both simulation and experimental results are quite promising and show potential of our new method.
Year
DOI
Venue
2009
10.1109/IROS.2009.5354310
St. Louis, MO
Keywords
Field
DocType
algebra,feature extraction,mathematics computing,robot vision,visual servoing,2 DOF SCARA direct drive robot,6 DOF Puma 560 robot,Matlab Robotics Toolbox,algebraic curves,feature extraction,image based visual servoing,object boundary modelling,shape alignment
Computer vision,Feature (computer vision),Computer science,SCARA,Algebraic equation,Control engineering,Feature extraction,Artificial intelligence,Pixel,Visual servoing,Robot,Robotics
Conference
ISBN
Citations 
PageRank 
978-1-4244-3804-4
3
0.38
References 
Authors
11
3
Name
Order
Citations
PageRank
Ahmet Yasin Yazicioglu1181.82
Berk Çallı21188.98
Mustafa Ünel315420.71