A survey of moment-based techniques for unoccluded object representation and recognition
CVGIP: Graphical Models and Image Processing
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Robotics Research
International Journal of Robotics Research
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Polar snakes: a fast and robust parametric active contour model
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
Image moments: a general and useful set of features for visual servoing
IEEE Transactions on Robotics
Point-based and region-based image moments for visual servoing of planar objects
IEEE Transactions on Robotics
Robust Jacobian matrix estimation for image-based visual servoing
Robotics and Computer-Integrated Manufacturing
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This paper presents a visual-servoing method that is based on 2-D ultrasound (US) images. The main goal is to guide a robot actuating a 2-D US probe in order to reach a desired cross-section image of an object of interest. The method we propose allows the control of both in-plane and out-of-plane probe motions. Its feedback visual features are combinations of moments extracted from the observed image. The exact analytical form of the interaction matrix that relates the image-moments time variation to the probe velocity is developed, and six independent visual features are proposed to control the six degrees of freedom of the robot. In order to endow the system with the capability of automatically interacting with objects of unknown shape, a model-free visual servoing is developed. For that, we propose an efficient online estimation method to identify the parameters involved in the interaction matrix. Results obtained in both simulations and experiments validate the methods presented in this paper and show their robustness to different errors and perturbations, especially those inherent to the noisy US images.