Image moments: a general and useful set of features for visual servoing

In this paper, we determine the analytical form of the interaction matrix related to any moment that can be computed from segmented images. The derivation method we present is based on Green's theorem. We apply this general result to classical geometrical primitives. We then consider using mome...

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Bibliographic Details
Published in:IEEE transactions on robotics Vol. 20; no. 4; pp. 713 - 723
Main Author: Chaumette, F.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.08.2004
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Application software
Applied sciences
Cameras
Computer Science
Computer science; control theory; systems
Control systems
Control theory. Systems
Degrees of freedom
Derivation
Exact sciences and technology
Geometry
Image analysis
Image segmentation
Mathematical analysis
Miscellaneous
Modelling and identification
Neural networks
Planes
Robot kinematics
Robotics
Robots
Sensors
Shape
Transmission line matrix methods
Visual
Visual servoing
Visual servoing
Moment
Image
Green function
ISSN:1552-3098, 1941-0468
Online Access:Get full text
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Description
Summary:In this paper, we determine the analytical form of the interaction matrix related to any moment that can be computed from segmented images. The derivation method we present is based on Green's theorem. We apply this general result to classical geometrical primitives. We then consider using moments in image-based visual servoing. For that, we select six combinations of moments to control the six degrees of freedom of the system. These features are particularly adequate, if we consider a planar object and the configurations such that the object and camera planes are parallel at the desired position. The experimental results we present show that a correct behavior of the system is obtained if we consider either a simple symmetrical object or a planar object with complex and unknown shape.
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ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2004.829463