Improving tracking trajectories with motion estimation

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Title: Improving tracking trajectories with motion estimation
Authors: Pomares, Jorge | Garcia, Gabriel J. | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Motion estimation | Tracking trajectories | Visual control
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2006
Publisher: INSTICC Press
Citation: POMARES BAEZA, Jorge; GARCÍA GÓMEZ, Gabriel Jesús; TORRES MEDINA, Fernando. "Improving tracking trajectories with motion estimation". En: ICINCO 2006, Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics : Setúbal, Portugal, August 1-5, 2006. Setúbal : INSTICC Press, 2006. ISBN 978-972-8865-60-0, pp. 97-103
Abstract: Up to now, different methods have been proposed to track trajectories using visual servoing systems. However, when these approaches are employed to track trajectories specified with respect to moving objects, different considerations must be included in the visual servoing formulation to progressively decrease the tracking error. This paper shows the main properties of a non-time dependent visual servoing system to track image trajectories. The control action obtained integrates the motion estimation of the object from which the features are extracted. The proposed motion estimator employs information from the measures of the extracted features and from the variation of the camera locations. These variations are obtained determining the Homography matrix between consecutive camera frames.
Sponsor: This work was funded by the Spanish MCYT project DPI2005-06222 “Diseño, implementación y experimentación de escenarios de manipulación inteligentes para aplicaciones de ensamblado y desensamblado automático” and by the project GV05/007: “Diseño y experimentación de estrategias de control visual-fuerza para sistemas flexibles de manipulación”.
ISBN: 978-972-8865-60-0
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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