A unified approach to visual tracking and servoing

A unified approach to visual tracking and servoing

In this paper, we present a generic and flexible system for vision-based robot control. The system integrates visual tracking and visual servoing approaches in a unifying framework. In this framework, the generality is obtained using a template matching algorithm based on an efficient second-order m...

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Veröffentlicht in:Robotics and autonomous systems 2005-07, Vol.52 (1), p.39-52
Hauptverfasser: Malis, Ezio, Benhimane, Selim
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Sprache:eng
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Computer Science
Efficient second-order minimization
Real-time
Robotics
Visual servoing
Visual tracking
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container_title Robotics and autonomous systems
container_volume 52
creator Malis, Ezio
Benhimane, Selim
description In this paper, we present a generic and flexible system for vision-based robot control. The system integrates visual tracking and visual servoing approaches in a unifying framework. In this framework, the generality is obtained using a template matching algorithm based on an efficient second-order minimization. Contrarily to feature-based visual servoing schemes, we avoid the design of feature-dependent visual tracking algorithms. By integrating the visual tracking process with the visual servoing techniques, we can easily deal with constrained tasks. This reduces the computation cost and improves the precision of the system. The experimental results prove the efficiency of the unified system in real conditions.
doi_str_mv 10.1016/j.robot.2005.03.014
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1872-793X
language eng
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subjects Computer Science
Efficient second-order minimization
Real-time
Robotics
Visual servoing
Visual tracking
title A unified approach to visual tracking and servoing
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