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

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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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