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 proceedingConference contribution

8 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 languageEnglish (US)
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages5444-5449
Number of pages6
DOIs
StatePublished - Dec 11 2009
Externally publishedYes
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Publication series

Name2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/TerritoryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Bibliographical note

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

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