Image based visual servoing using algebraic curves applied to shape alignment

Yazıcıoğlu, Ahmet Yasin and Çallı, Berk and Ünel, Mustafa (2009) Image based visual servoing using algebraic curves applied to shape alignment. In: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09), St. Louis, USA

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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.

Item Type:Papers in Conference Proceedings
Uncontrolled Keywords:Visual Servoing, Computer Vision
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:12655
Deposited By:Mustafa Ünel
Deposited On:16 Nov 2009 15:11
Last Modified:23 Jul 2019 15:51

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