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Conference papers

Colorimetry-based visual servoing

Christophe Collewet 1 Eric Marchand 2, * 
* Corresponding author
1 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
2 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
Abstract : The goal of this paper is to present a way to perform visual servoing tasks from color attributes. This approach can be seen as an extension of our previous papers based on the luminance. Indeed, as we did for the luminance, color attributes are directly used in the control law avoiding therefore any complex images processing as features extraction or matching. We propose in this paper several potential color features and then a way to select a priori the best choice among them with respect to the scene being observed. Experimental results validate as well the interest of using color attributes as visual features as our selection process.
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Submitted on : Thursday, October 6, 2011 - 3:18:11 PM
Last modification on : Wednesday, February 2, 2022 - 3:56:08 PM
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  • HAL Id : inria-00629746, version 1


Christophe Collewet, Eric Marchand. Colorimetry-based visual servoing. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct 2009, St Louis, United States. pp.5438-5443. ⟨inria-00629746⟩



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