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Direct visual servoing using ZNCC criterion

Amaury Dame 1 Eric Marchand 1
1 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
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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https://hal.inria.fr/hal-01683329
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Submitted on : Tuesday, January 16, 2018 - 10:04:07 AM
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  • HAL Id : hal-01683329, version 1

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

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