Image-based robot navigation from an image memory
Robotics and Autonomous Systems
Rubik's cube reconstruction from single view for Service robots
Machine Graphics & Vision International Journal
Feature Depth Observation for Image-based Visual Servoing: Theory and Experiments
International Journal of Robotics Research
Visual servoing path planning via homogeneous forms and LMI optimizations
IEEE Transactions on Robotics
A unified approach to integrate unilateral constraints in the stack of tasks
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle
IEEE Transactions on Robotics - Special issue on rehabilitation robotics
Improvements on visual servoing from sphericaltargets using a spherical projection model
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Generic decoupled image-based visual servoing for cameras obeying the unified projection model
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A combination of particle filtering and deterministic approaches for multiple kernel tracking
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Hand & eye-vergence dual visual servoing to enhance observability and stability
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Coarsely calibrated visual servoing of a mobile robot using a catadioptric vision system
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Image based visual servoing using algebraic curves applied to shape alignment
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
On visual servoing based on efficient second order minimization
Robotics and Autonomous Systems
2-D ultrasound probe complete guidance by visual servoing using image moments
IEEE Transactions on Robotics
Robotics and Autonomous Systems
Decoupled image-based visual servoing for cameras obeying the unified projection model
IEEE Transactions on Robotics
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Robust image-based visual servoing using invariant visual information
Robotics and Autonomous Systems
Eye-vergence visual servoing enhancing Lyapunov-stable trackability
Artificial Life and Robotics
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Moments are generic (and usually intuitive) descriptors that can be computed from several kinds of objects, defined either from closed contours or from a set of points. In this paper, we present improvements in image-based visual servo using image moments. First, the analytical form of the interaction matrix related to the moments computed from a set of coplanar points is derived, and we show that it is different from the form obtained previously, using coplanar closed contours. Six visual features are selected to design a decoupled control scheme when the object is parallel to the image plane. This nice property is then generalized to the case where the desired object position is not parallel to the image plane. Finally, experimental results are presented to illustrate the validity of our approach and its robustness, with respect to modeling errors.