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Direct visual servoing using ZNCC criterion

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Abstract

This paper proposes a direct visual scheme. In direct visual servoing approaches, the goal is to consider all the image as a whole. Therefore we do no rely on a feature extraction or tracking process. In nominal condition, these approaches have proved to be robust and very precise. In this paper, we proposed to consider a new metric that is the Zero mean Normalized Cross-Correlation function (ZNCC). This correlation criterion is known to be more robust that the classical SSD to linear brightness variations. This paper gives the expressions required to perform a ZNCC-based visual servoing task. Experimental results demonstrates the efficiency of the proposed method.
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Dates and versions

hal-01683329 , version 1 (16-01-2018)

Identifiers

  • HAL Id : hal-01683329 , version 1

Cite

Amaury Dame, Eric Marchand. Direct visual servoing using ZNCC criterion. 2012. ⟨hal-01683329⟩
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