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 language||English (US)|
|Number of pages||6|
|Journal||Proceedings of the American Control Conference|
|State||Published - Jan 1 1995|
|Event||Proceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA|
Duration: Jun 21 1995 → Jun 23 1995