Movement flow-based visual servoing to track moving objects

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Title: Movement flow-based visual servoing to track moving objects
Authors: Pomares, Jorge | 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: Tracking trajectories | Image-based visual servoing | Movement flow | Movement estimation
Knowledge Area: Ingeniería de Sistemas y Automática
Issue Date: 2004
Publisher: TSI Press
Citation: POMARES BAEZA, Jorge; TORRES MEDINA, Fernando. "Movement flow-based visual servoing to track moving objects". En: Robotics trends, principles, and applications : proceedings of the Sixth Biannual World Automation Congress (WAC), ISORA, Seville, Spain. San Antonio, TX : TSI Press, 2004. ISBN 1-889335-21-5, pp. 241-246
Abstract: The purpose of this paper is to describe a new method for tracking trajectories specified in the image space. This method, called movement flow-based visual servoing system, is applied to an eye-in-hand robot and it is shown that it allows the correct tracking of a trajectory, not only in the image but also in the 3-D space. This method is also extended to the case in which the object from which the features are extracted, is in motion. To do so, the estimations obtained, using several Kalman filters, are integrated in the control action.
ISBN: 1-889335-21-5
Language: eng
Type: info:eu-repo/semantics/bookPart
Rights: The original version of this paper was presented at World Automation Congress, Seville, Spain, July 2004, ISBN 1-889335-21-5, pp. 241-246
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales
INV - HURO - Comunicaciones a Congresos, Conferencias, etc.

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