HAL - INRIA :: [inria-00351886, version 1] Efficient model-based tracking for robot vision.

inria-00351886, version 1

<?xml version="1.0" encoding="UTF-8"?>
<listBibl xmlns="http://www.tei-c.org/ns/1.0" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:mml="http://www.w3.org/1998/Math/MathML">
<listBibl type="article"><head>Articles dans des revues avec comité de lecture</head>
<biblStruct type="article" xml:id="inria-00351886"><analytic>
<author><persName><forename>Andrew</forename><surname>Comport</surname></persName>
<affiliation>
<orgName type="laboratory">INRIA - IRISA</orgName>
<orgName type="team">LAGADIC</orgName>
<country>FR</country>
<orgName type="institution">CNRS : UMR6074</orgName>
<orgName type="institution">INRIA</orgName>
<orgName type="institution">Université de Rennes 1</orgName>
</affiliation>
</author>
<author><persName><forename>E.</forename><surname>Marchand</surname></persName>
<affiliation>
<orgName type="laboratory">INRIA - IRISA</orgName>
<orgName type="team">LAGADIC</orgName>
<country>FR</country>
<orgName type="institution">CNRS : UMR6074</orgName>
<orgName type="institution">INRIA</orgName>
<orgName type="institution">Université de Rennes 1</orgName>
</affiliation>
</author>
<author><persName><forename>François</forename><surname>Chaumette</surname></persName>
<affiliation>
<orgName type="laboratory">INRIA - IRISA</orgName>
<orgName type="team">LAGADIC</orgName>
<country>FR</country>
<orgName type="institution">CNRS : UMR6074</orgName>
<orgName type="institution">INRIA</orgName>
<orgName type="institution">Université de Rennes 1</orgName>
</affiliation>
</author>
<title type="main" level="a">Efficient model-based tracking for robot vision.</title></analytic><monogr><title level="j" type="main">Advanced Robotics</title><imprint><publisher>The Robotics Society of Japan</publisher><biblScope type="publicationDate">2005</biblScope><biblScope type="vol">19</biblScope><biblScope type="issue">10</biblScope><biblScope type="pp">1097-1113</biblScope></imprint></monogr><idno type="HALid">http://hal.inria.fr/inria-00351886/en/</idno><idno type="HALFile">http://hal.inria.fr/inria-00351886/PDF/2005_ar_comport.pdf</idno></biblStruct>
</listBibl>
</listBibl>

Efficient model-based tracking for robot vision.

Andrew Comport (

)^a^, 1, E. Marchand^a^, 1, François Chaumette (

)^a^, 1

(2005)

Accès au texte intégral
PDF

Advanced Robotics 19, 10 (2005) 1097-1113

Résumé : This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm. A virtual visual servoing approach is used for monocular 3D tracking. This method is similar to more classical non-linear pose computation techniques. A concise method for derivation of efficient distance-to-contour interaction matrices is described. An oriented edge detector is used in order to provide real-time tracking of points normal to the object contours. Robustness is obtained by integrating a M-estimator into the virtual visual control law via an iteratively re-weighted least squares implementation. The method presented in this paper has been validated on several visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.

a –	INRIA
1 :	LAGADIC (INRIA - IRISA)
	CNRS : UMR6074 – INRIA – Université de Rennes 1

Domaine

Informatique/Robotique

Commentaire : Special issue on Selected papers from IROS'04


inria-00351886, version 1
http://hal.inria.fr/inria-00351886/fr/
oai:hal.inria.fr:inria-00351886_v1
Contributeur : Eric Marchand <>
Déposé pour le compte de : Eric MARCHAND <>
Soumis le : Lundi 12 Janvier 2009, 10:23:09
Dernière modification le : Lundi 12 Janvier 2009, 11:53:12