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Conference papers

Application of moment invariants to visual servoing

O. Tahri 1, 2 François Chaumette 2 
2 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimise the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 DOF eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method.
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Submitted on : Monday, January 12, 2009 - 2:20:46 PM
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  • HAL Id : inria-00352082, version 1


O. Tahri, François Chaumette. Application of moment invariants to visual servoing. IEEE Int. Conf. on Robotics and Automation, ICRA'03, 2003, Taipeh, Taiwan, France. pp.4276-4281. ⟨inria-00352082⟩



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