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IROS
2009
IEEE

Image based visual servoing using algebraic curves applied to shape alignment

9 years 8 hour ago
Image based visual servoing using algebraic curves applied to shape alignment
— Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation. This paper presents a novel method for using boundary information in visual servoing. Object boundaries are modeled by algebraic equations and decomposed as a unique sum of product of lines. We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual servoing. Simulations are performed with a 6 DOF Puma 560 robot using Matlab Robotics Toolbox for the alignment of a free-form object. Also, experiments are realized with a 2 DOF SCARA direct drive robot. Both simulation and experimental results are quite promising and show potential of our new method.
Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel
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