Image based visual servoing using bitangent points applied to planar shape alignment
Özgür, Erol and Ünel, Mustafa (2007) Image based visual servoing using bitangent points applied to planar shape alignment. In: The 13th IASTED International Conference on Robotics and Applications ~RA 2007, Würzburg, Germany
Official URL: http://www.actapress.com/Abstract.aspx?paperId=31310
We present visual servoing strategies based on bitangents for aligning planar shapes. In order to acquire bitangents we use convex-hull of a curve. Bitangent points are employed in the construction of a feature vector to be used in visual control. Experimental results obtained on a 7 DOF Mitsubishi PA10 robot, verifies the proposed method.
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