A Reflectance Model for Computer Graphics
ACM Transactions on Graphics (TOG)
The Geometry of Multiple Images: The Laws That Govern The Formation of Images of A Scene and Some of Their Applications
Models of light reflection for computer synthesized pictures
SIGGRAPH '77 Proceedings of the 4th annual conference on Computer graphics and interactive techniques
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
An Efficient Direct Approach to Visual SLAM
IEEE Transactions on Robotics
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To date, there exist only few works on the use of color images for visual servoing. Perhaps, this is due to the difficulties usually found to cope with illumination changes in these images. This paper presents new parametric models and optimization methods for robustly and directly registering color images. Direct methods refer to those that exploit the pixel intensities, without resorting to image features. We then show how a robust and generic visual servoing scheme can be constructed using the obtained optimal parameters. The proposed models ensure robustness to arbitrary illumination changes in color images, do not require prior knowledge (including the spectral ones) of the object, illuminants or camera, and naturally encompass gray-level images. Furthermore, the exploitation of all information within the images, even from areas where no features exist, allow the algorithm to achieve high levels of accuracy. Various results are reported to show that visual servoing can indeed be highly accurate and robust despite unknown objects and unknown imaging conditions.