Three-dimensional computer vision: a geometric viewpoint
Three-dimensional computer vision: a geometric viewpoint
Efficient Region Tracking With Parametric Models of Geometry and Illumination
IEEE Transactions on Pattern Analysis and Machine Intelligence
International Journal of Computer Vision
International Journal of Computer Vision - Special issue on image-based servoing
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
Hyperplane Approximation for Template Matching
IEEE Transactions on Pattern Analysis and Machine Intelligence
Estimation of Relative Camera Positions for Uncalibrated Cameras
ECCV '92 Proceedings of the Second European Conference on Computer Vision
Contour Tracking by Stochastic Propagation of Conditional Density
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume I - Volume I
ECCV '98 Proceedings of the 5th European Conference on Computer Vision-Volume II - Volume II
Projective registration with difference decomposition
CVPR '97 Proceedings of the 1997 Conference on Computer Vision and Pattern Recognition (CVPR '97)
Visual Homing: Surfing on the Epipoles
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
ICCV '98 Proceedings of the Sixth International Conference on Computer Vision
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
Image moments: a general and useful set of features for visual servoing
IEEE Transactions on Robotics
Real-time Hybrid Tracking using Edge and Texture Information
International Journal of Robotics Research
A Global Approach for Automatic Fibroscopic Video Mosaicing in Minimally Invasive Diagnosis
MICCAI '08 Proceedings of the 11th international conference on Medical Image Computing and Computer-Assisted Intervention - Part I
Efficient 3D Tracking for Motion Compensation in Beating Heart Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Edge-Based Template Matching and Tracking for Perspectively Distorted Planar Objects
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Probabilistic fusion-based parameter estimation for visual tracking
Computer Vision and Image Understanding
Foundations and Trends in Robotics
Relocalization using virtual keyframes for online environment map construction
Proceedings of the 16th ACM Symposium on Virtual Reality Software and Technology
Computer vision centric hybrid tracking for augmented reality in outdoor urban environments
Proceedings of the 8th International Conference on Virtual Reality Continuum and its Applications in Industry
Navigation Method Selector for an Autonomous Explorer Rover with a Markov Decision Process
ICIRA '09 Proceedings of the 2nd International Conference on Intelligent Robotics and Applications
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
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
International Journal of Robotics Research
Insight into efficient image registration techniques and the demons algorithm
IPMI'07 Proceedings of the 20th international conference on Information processing in medical imaging
International Journal of Computer Vision
Bidirectional composition on Lie groups for gradient-based image alignment
IEEE Transactions on Image Processing
Learning Real-Time Perspective Patch Rectification
International Journal of Computer Vision
Wide-area augmented reality using camera tracking and mapping in multiple regions
Computer Vision and Image Understanding
Automatic estimation of asymmetry for gradient-based alignment of noisy images on Lie group
Pattern Recognition Letters
Simultaneous reconstruction and tracking of non-planar templates
DAGM'11 Proceedings of the 33rd international conference on Pattern recognition
Fusing template and point information to track planes with large interframe displacement
MMM'12 Proceedings of the 18th international conference on Advances in Multimedia Modeling
Parallel tracking and mapping for controlling VTOL airframe
Journal of Control Science and Engineering
A study on local photometric models and their application to robust tracking
Computer Vision and Image Understanding
Online learning of linear predictors for real-time tracking
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part I
Improving NCC-based direct visual tracking
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part VI
Data-Driven visual tracking in retinal microsurgery
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
Accurate single image multi-modal camera pose estimation
ECCV'10 Proceedings of the 11th European conference on Trends and Topics in Computer Vision - Volume Part II
Segmentation-based tracking by support fusion
Computer Vision and Image Understanding
Efficient learning of linear predictors using dimensionality reduction
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part III
Photometric visual servoing for omnidirectional cameras
Autonomous Robots
Integration of new features for telerobotic surgery into the MiroSurge system
Applied Bionics and Biomechanics - Surgical Robotics
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The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher convergence rate than standard first-order minimization techniques. Therefore, it is well adapted to real-time robotic applications. The output of the visual tracking is a homography linking the current and the reference image of a planar target. Using the homography, a task function isomorphic to the camera pose has been designed. A new image-based control law is proposed which does not need any measure of the 3D structure of the observed target (e.g. the normal to the plane). The theoretical proof of the existence of the isomorphism between the task function and the camera pose and the theoretical proof of the stability of the control law are provided. The experimental results, obtained with a 6 d.o.f. robot, show the advantages of the proposed method with respect to the existing approaches.