Name
Title | ||
|---|---|---|
An improved modelling scheme for photometric moments with inclusion of spatial weights for visual servoing with partial appearance/disappearance |
Abstract | ||
|---|---|---|
Visual servoing based on photometric data is of great interest since it does not necessitate any image processing or visual tracking steps. A vital issue in such methods is the change in the image resulting from the appearance and disappearance of portions of the scene from the camera field-of-view during the visual servo. In this paper, we propose a spatial weighting scheme to counter this problem. A general model for photometric moments that allows for inclusion of spatial weights is presented. A custom weighting function is then chosen and specific properties of its derivative are exploited in order to develop the interaction matrix in analytical form. The resultant effects on the invariance properties are discussed. Experiments have been performed to validate the visual servoing with the proposed weighting scheme on a 4 dof robot arm. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7140046 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
cameras,invariance,object tracking,photometry,visual servoing,4 DOF robot arm,camera field-of-view,image processing,improved modelling scheme,interaction matrix,invariance properties,partial appearance,photometric moments,spatial weighting scheme,spatial weights,visual servoing,visual tracking,weighting function | Convergence (routing),Computer vision,Weighting,Robotic arm,Invariant (physics),Visualization,Image processing,Eye tracking,Visual servoing,Artificial intelligence,Mathematics | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
3 | 0.42 | 11 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Manikandan Bakthavatchalam | 1 | 12 | 1.67 |
| francois chaumette | 2 | 4374 | 311.50 |
| Omar Tahri | 3 | 121 | 14.56 |