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Robust model-based tracking for robot vision
Abstract : This paper proposes a real-time, robust and efficient 3D model-based tracking algorithm for visual servoing. 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 2D 1/2 visual servoing experiments considering various objects. Results show the method to be robust to occlusion, changes in illumination and miss-tracking.
Cited literature [22 references]
https://hal.inria.fr/inria-00352025
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 1:53:12 PM
Last modification on : Thursday, January 20, 2022 - 5:30:14 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:31:35 PM
Contributor : Eric Marchand Connect in order to contact the contributor
Submitted on : Monday, January 12, 2009 - 1:53:12 PM
Last modification on : Thursday, January 20, 2022 - 5:30:14 PM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:31:35 PM
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2004_iros_comport.pdf
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