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Conference papers

2D model-based tracking of complex shapes for visual servoing tasks

N. Giordana 1 Patrick Bouthemy 1 François Chaumette 1 F. Spindler 1 J.-C. Bordas 2 V. Just 2 
1 VISTA - Vision spatio-temporelle et active
IRISA - Institut de Recherche en Informatique et Systèmes Aléatoires, Inria Rennes – Bretagne Atlantique
Abstract : Visual servoing needs image data as input to realize robotics tasks such as positioning, docking or mobile target pursuit. This often requires to track the 2D projection of the object of interest in the image sequence. To increase the versatility of visual servoing, objects cannot be assumed to carry landmarks. We have developed an original method for 2D tracking of complex objects which can be approximately modeled by a polyhedral shape. The proposed method fulfills real-time constraints as well as reliability and robustness requirements. Real experiments and results on a positioning task with respect to different objects are presented.
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Submitted on : Tuesday, January 13, 2009 - 12:27:42 PM
Last modification on : Friday, February 4, 2022 - 3:17:38 AM
Long-term archiving on: : Tuesday, June 8, 2010 - 7:51:38 PM


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  • HAL Id : inria-00352554, version 1


N. Giordana, Patrick Bouthemy, François Chaumette, F. Spindler, J.-C. Bordas, et al.. 2D model-based tracking of complex shapes for visual servoing tasks. IEEE Workshop on Robust Vision for Vision-based Control of Motion, ICRA'98, 1998, Leuven, Belgium, Belgium. ⟨inria-00352554⟩



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