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http://hdl.handle.net/10045/3260
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| Title: | Improving tracking trajectories with motion estimation |
| Authors: | Pomares Baeza, Jorge
García Gómez, Gabriel Jesús
Torres Medina, 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”. |
| URI: | http://hdl.handle.net/10045/3260 |
| ISBN: | 978-972-8865-60-0 |
| Language: | eng |
| Type: | info:eu-repo/semantics/bookPart |
| Peer Review: | si |
| Appears in Collections: | INV - AUROVA - Comunicaciones a Congresos Internacionales
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| icinco2006JPomares.pdf | | 545Kb | Adobe PDF | View/Open |
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