Image based visual servoing using algebraic curves applied to shape alignment

Ahmet Yasin Yazicioglu; Berk Calli; Mustafa Unel

doi:10.1109/IROS.2009.5354310

Image based visual servoing using algebraic curves applied to shape alignment

Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

11 Scopus citations

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.

Original language	English (US)
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	5444-5449
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354310
State	Published - Dec 11 2009
Externally published	Yes
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

Bibliographical note

Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.

Publisher link

10.1109/IROS.2009.5354310

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Yazicioglu, A. Y., Calli, B., & Unel, M. (2009). Image based visual servoing using algebraic curves applied to shape alignment. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 5444-5449). Article 5354310 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354310

Image based visual servoing using algebraic curves applied to shape alignment. / Yazicioglu, Ahmet Yasin; Calli, Berk; Unel, Mustafa.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 5444-5449 5354310 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yazicioglu, AY, Calli, B & Unel, M 2009, Image based visual servoing using algebraic curves applied to shape alignment. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354310, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 5444-5449, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354310

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Image based visual servoing using algebraic curves applied to shape alignment

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