Photometry-based visual servoing using light reflexion models

Authors:
Christophe Collewet;Eric Marchand
Affiliations:
INRIA Rennes, Bretagne Atlantique, IRISA, Lagadic team, Rennes, France;INRIA Rennes, Bretagne Atlantique, IRISA, Lagadic team, Rennes, France
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 3
Cited 1

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International Journal of Computer Vision - Special issue on image-based servoing
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Models of light reflection for computer synthesized pictures

SIGGRAPH '77 Proceedings of the 4th annual conference on Computer graphics and interactive techniques

Colorimetry-based visual servoing

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

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Abstract

We present in this paper a way to achieve positioning tasks by visual servoing under complex luminance variations. To do that, we use as visual features the luminance of all pixels in the image as we did in our previous work [4]. An important issue of this approach is that it does not rely at all on a any matching nor tracking process, contrary to all the approaches based on geometric visual features (points, straight lines, pose, homography, etc.). However, we consider in this paper a complete illumination model contrary to [4] where the temporal luminance constancy hypothesis was assumed. The main issue of this paper is thus the analytical computation of the interaction matrix related to the luminance from the Phong illumination model. Experimental results on specular objects validate our approach.