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Application of Motion-Based Visual Servoing to Target Tracking

Armel Crétual 1 François Chaumette 2 
2 RAINBOW - Sensor-based and interactive robotics
Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of design- ing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration necessary to reduce the tracking error. A second method, more efficient for target tracking, consists of retrieving the target position in the im- age from its estimated motion. This leads to classical image-based visual servoing. For both methods, experimental results obtained at video rate are presented and discussed.
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https://hal.inria.fr/hal-03396150
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Submitted on : Friday, October 22, 2021 - 3:56:11 PM
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Long-term archiving on: : Monday, January 24, 2022 - 4:58:18 PM

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  • HAL Id : hal-03396150, version 1

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Armel Crétual, François Chaumette. Application of Motion-Based Visual Servoing to Target Tracking. The International Journal of Robotics Research, 2001, 20 (11), pp.878-890. ⟨hal-03396150⟩

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