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ICRA
2003
IEEE

Application of moment invariants to visual servoing

13 years 9 months ago
Application of moment invariants to visual servoing
Abstract— In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimize the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 dof eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method.
Omar Tahri, François Chaumette
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Omar Tahri, François Chaumette
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