Homography-based 2D Visual Tracking and Servoing
International Journal of Robotics Research
Real-time Hybrid Tracking using Edge and Texture Information
International Journal of Robotics Research
Image-based Visual Servoing with Central Catadioptric Cameras
International Journal of Robotics Research
Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments
International Journal of Robotics Research
Self-calibrated visual servoing with respect to axial-symmetric 3D objects
Robotics and Autonomous Systems
Building blocks for simulation of robotic manipulators
RA '07 Proceedings of the 13th IASTED International Conference on Robotics and Applications
Decoupled visual servoing based on the spherical projection of points
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
FAT-based adaptive visual servoing for robots with time varying uncertainties
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Adaptive critic based redundancy resolution scheme for robot manipulators
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
Colorimetry-based visual servoing
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Construction of vision-based manipulation system for 3D industrial objects
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
2-D ultrasound probe complete guidance by visual servoing using image moments
IEEE Transactions on Robotics
Visual servoing of redundant manipulator with Jacobian matrix estimation using self-organizing map
Robotics and Autonomous Systems
Brief paper: Observer design for range and orientation identification
Automatica (Journal of IFAC)
Vision Based Position Control for MAVs Using One Single Circular Landmark
Journal of Intelligent and Robotic Systems
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
Stability Analysis of a Vision-Based UAV Controller
Journal of Intelligent and Robotic Systems
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In this paper, we determine the analytical form of the interaction matrix related to any moment that can be computed from segmented images. The derivation method we present is based on Green's theorem. We apply this general result to classical geometrical primitives. We then consider using moments in image-based visual servoing. For that, we select six combinations of moments to control the six degrees of freedom of the system. These features are particularly adequate, if we consider a planar object and the configurations such that the object and camera planes are parallel at the desired position. The experimental results we present show that a correct behavior of the system is obtained if we consider either a simple symmetrical object or a planar object with complex and unknown shape.