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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
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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⟩

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