Image based visual servoing using bitangent points applied to planar shape alignment

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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

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Official URL: http://www.actapress.com/Abstract.aspx?paperId=31310

Abstract

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.

Item Type:	Papers in Conference Proceedings
Subjects:	Q Science > QA Mathematics
Divisions:	Faculty of Engineering and Natural Sciences
Depositing User:	Mustafa Ünel
Date Deposited:	24 Oct 2007 21:30
Last Modified:	26 Apr 2022 08:41
URI:	https://research.sabanciuniv.edu/id/eprint/5638

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