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Author Bateux, Q. ♦ Marchand, E.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Histograms ♦ Cameras ♦ Visual servoing ♦ Kernel ♦ Feature extraction ♦ Visualization
Abstract Classically Visual servoing considered the regulation in the image of a set of visual features (usually geometric features). Recently direct visual servoing scheme, such as photometric visual servoing, have been introduced in order to consider every pixel of the image as a primary source of information and thus avoid the extraction and the tracking of such geometric features. Previous works proposed methods to use directly the image intensities in the definition of the control law, by using for example mutual information. In this paper, we propose a method to extend these works by using a global descriptor, namely intensity histograms, on the whole or multiple sub-sets of the images in order to achieve control of a 6 degrees of freedom (DoF) robot. The results are then demonstrated through experimental validations.
Description Author affiliation: Inria, Univ. de Rennes 1, Rennes, France (Bateux, Q.; Marchand, E.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 2.34 MB
Page Count 6
Starting Page 6019
Ending Page 6024

Source: IEEE Xplore Digital Library