Image moments: a general and useful set of features for visual servoing
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 mome...
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| Veröffentlicht in: | IEEE Transactions on Robotics 2004-08, Vol.20 (4), p.713-723 |
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| container_title | IEEE Transactions on Robotics |
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| creator | Chaumette, F. |
| description | 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. |
| doi_str_mv | 10.1109/TRO.2004.829463 |
| format | Article |
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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. 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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.</description><subject>Application software</subject><subject>Applied sciences</subject><subject>Cameras</subject><subject>Computer Science</subject><subject>Computer science; control theory; systems</subject><subject>Control systems</subject><subject>Control theory. 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| subjects | Application software Applied sciences Cameras Computer Science Computer science control theory systems Control systems Control theory. Systems Degrees of freedom Derivation Exact sciences and technology Geometry Image analysis Image segmentation Mathematical analysis Miscellaneous Modelling and identification Neural networks Planes Robot kinematics Robotics Robots Sensors Shape Transmission line matrix methods Visual Visual servoing |
| title | Image moments: a general and useful set of features for visual servoing |
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