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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