Skip to Main content Skip to Navigation
Conference papers

Using image gradient as a visual feature for visual servoing

E. Marchand 1 Christophe Collewet 2
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
2 FLUMINANCE - Fluid Flow Analysis, Description and Control from Image Sequences
CEMAGREF - Centre national du machinisme agricole, du génie rural, des eaux et forêts, Inria Rennes – Bretagne Atlantique
Abstract : Direct photometric visual servoing has proved to be an efficient approach for robot positioning. Instead of using classical geometric features such as points, straight lines, pose or an homography, as it is usually done, information provided by all pixels in the image are considered. In the past mainly luminance information has been considered. In this paper, considering that most of the useful information in an image is located in its high frequency areas (that are contours), we have consider various possible combinations of global visual feature based on luminance and gradient. Experimental results are presented to show the behavior of such features.
Keywords : GRADIENT SPATIAL
Document type :
Conference papers
Complete list of metadatas

Cited literature [10 references]  Display  Hide  Download

https://hal.inria.fr/inria-00544788
Contributor : Eric Marchand <>
Submitted on : Thursday, December 9, 2010 - 12:16:48 AM
Last modification on : Friday, August 7, 2020 - 3:22:29 AM
Long-term archiving on: : Thursday, March 10, 2011 - 1:05:06 PM

File

2010_iros_marchand.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : inria-00544788, version 1

Citation

E. Marchand, Christophe Collewet. Using image gradient as a visual feature for visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'10, 2010, Taipei, Taiwan, Taiwan. pp.5687-5692. ⟨inria-00544788⟩

Share

Metrics

Record views

361

Files downloads

308