Model-based robotic visual servoing

Philippe A. Couvignou, Nikolaos P. Papanikolopoulos, Pradeep K. Khosla

Research output: Contribution to journalConference article

1 Scopus citations

Abstract

This paper presents a model-based approach for visual tracking and servoing in robotics. We propose active deformable models as an effective way for tracking a rigid or semi-rigid (possibly partially occluded) object in movement within the manipulator's workspace. Deformable models simulate the behavior of elastic edges or meshes in real-time. Such models can be designed to adhere to the contour of a rigid or semi-rigid object as defined by the image gradient. Because these models retain a 'memory' of the shape and orientation of the object they track, they can be used effectively in model-based robotic visual servoing. Preliminary experimental results show that the deformable models help us achieve robust tracking even when the target is partially occluded.

Original languageEnglish (US)
Pages (from-to)898-903
Number of pages6
JournalProceedings of the American Control Conference
Volume1
StatePublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995

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