On the use of snakes for 3-D robotic visual tracking

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

This paper discusses a new approach for robotic visual tracking and servoing. We introduce deformable active models as a powerful means for tracking a moving rigid object (an eye-in-hand robot arm is used). 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. Experimental results are presented for the tracking of a rigid object moving in the three-dimensional space.

Original languageEnglish (US)
Title of host publicationIEEE Computer Vision and Pattern Recognition
Editors Anon
PublisherPubl by IEEE
Pages750-751
Number of pages2
ISBN (Print)0818638826
StatePublished - Dec 1 1993
EventProceedings of the 1993 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - New York, NY, USA
Duration: Jun 15 1993Jun 18 1993

Publication series

NameIEEE Computer Vision and Pattern Recognition

Other

OtherProceedings of the 1993 IEEE Computer Society Conference on Computer Vision and Pattern Recognition
CityNew York, NY, USA
Period6/15/936/18/93

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