This paper presents a new approach for visual tracking and servoing in robotics. We introduce deformable active models as a powerful means for tracking a rigid object in movement within the manipulator's workspace. Deformable models imitate, in real-time, the dynamic behavior of elastic structures. These computer-generated models are designed to capture the silhouette of rigid objects with well-defined boundaries, in terms of image gradient. By means of an eye-in-hand robot arm configuration, the desired motion of the end-effector is computed with the objective of keeping the target's position and shape invariant with respect to the camera frame. Optimal estimation and control techniques (LQG regulator) have been successfully implemented in order to deal with noisy measurements provided by our vision sensor. Experimental results are presented for the tracking of a rigid objcct moving in a plane parallel to the image plane (three degree-of-freedom visual servoing). The experiments performed in a real-time environment show the effectiveness and robustness of the proposed method for servoing tasks based on visual feedback control.
|Original language||English (US)|
|Title of host publication||IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems|
|Subtitle of host publication||Sensor-Based Robotics and Opportunties for its Industrial Applications|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||8|
|State||Published - 1992|
|Event||1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States|
Duration: Jul 7 1992 → Jul 10 1992
|Name||IEEE International Conference on Intelligent Robots and Systems|
|Conference||1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992|
|Period||7/7/92 → 7/10/92|
Bibliographical noteFunding Information:
This research was supported in part by the Defense Advanced Research Projects Agency, through ARPA Order Number DAAA-2 1- 89C-000 1. Partial support for Philippe Couvignou was provided by Rhgie Nationale des Usines Renault SA.. Direction de la Rec.herciie, under an exchange program VSNA (Volontaires Service National Acta. The views and conclusions expressed in this document are those of the authors, and do not necessarily reflect the official policies, either expressed or implied, of the funding agencies. We are also grateful to Innovision Inc. for providing us with the image processing equipment.