Paper Info
Title
Improving moments-based visual servoing with tunable visual features
Abstract
In this paper, we introduce the concept of tunable visual features for moments based visual servoing schemes. The main contribution of this work is the introduction of tunable shift points along with some effective methods to tune them. We propose two different metrics: the first metric ensures optimal response of the control to errors in the image space and the second metric ensures orthogonality between the interaction matrix components (vectors) related to the control of x and y rotational motions. With the proposed method, it is possible to design moment invariants-based visual features whose interaction matrix is always non-singular for any desired pose (parallel or non-parallel). Thus, this work makes a significant contribution to the difficult problem of controlling the rotational motions around the x and y axes, when all the 6dof are involved. Two case studies are presented to demonstrate the validity of the proposed ideas. Results from each case are then used to design a moment invariants-based visual feature. This visual feature is used for visual servoing with a symmetrical object using binary moments and a free-form planar target using photometric moments.
Year
DOI
Venue
2014
10.1109/ICRA.2014.6907771
Robotics and Automation
Keywords
Field
DocType
robot vision,visual servoing,free-form planar target,interaction matrix components,moment invariants-based visual features,moments-based visual servoing,optimal response,orthogonality,photometric moments,rotational motions,tunable visual features,visual servoing schemes
Computer vision,Control theory,Matrix (mathematics),Orthogonality,Planar,Invariant (mathematics),Artificial intelligence,Visual servoing,Mathematics,Binary number
Conference
Volume
Issue
ISSN
2014
1
1050-4729
Citations 
PageRank 
References 
2
0.38
13
Authors
3
Name
Order
Citations
PageRank
Manikandan Bakthavatchalam1121.67
Omar Tahri212114.56
francois chaumette34374311.50