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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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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