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Article: 2 1/2 D visual servoing with respect to planar contours having complex and unknown shapes
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Title2 1/2 D visual servoing with respect to planar contours having complex and unknown shapes
 
AuthorsMalis, E1
Chesi, G3
Cipolla, R2
 
KeywordsMatching
Planar Contours
Tracking
Unknown Shapes
Visual Servoing
 
Issue Date2003
 
PublisherSage Science Press (UK). The Journal's web site is located at http://www.sagepub.co.uk/journal.aspx?pid=105596
 
CitationInternational Journal Of Robotics Research, 2003, v. 22 n. 10-11, p. 841-853 [How to Cite?]
 
AbstractIn this paper we present a complete system for segmenting, matching, tracking, and visual servoing with respect to unknown planar contours. Our system can be used with arbitrary contours of any shape and without any prior knowledge of their models. The system is first shown the target view. A selected contour is automatically extracted and its image shape is stored. The robot and object are then moved and the system automatically identifies the target. The matching step is performed together with the estimation of the homography matrix between the two views of the contour. Then, a 2 1/2 D visual servoing technique is used to reposition the end-effector of a robot at the reference position relative to the planar contour. The system has been successfully tested on several contours with very complex shapes such as leaves, keys, and coastal outlines of islands. Experiments using a ship mock-up without any artificial marker proves that the system can be applied to the ship-building industry.
 
ISSN0278-3649
2012 Impact Factor: 2.863
2012 SCImago Journal Rankings: 4.298
 
ReferencesReferences in Scopus
 
DC FieldValue
dc.contributor.authorMalis, E
 
dc.contributor.authorChesi, G
 
dc.contributor.authorCipolla, R
 
dc.date.accessioned2012-08-08T08:32:25Z
 
dc.date.available2012-08-08T08:32:25Z
 
dc.date.issued2003
 
dc.description.abstractIn this paper we present a complete system for segmenting, matching, tracking, and visual servoing with respect to unknown planar contours. Our system can be used with arbitrary contours of any shape and without any prior knowledge of their models. The system is first shown the target view. A selected contour is automatically extracted and its image shape is stored. The robot and object are then moved and the system automatically identifies the target. The matching step is performed together with the estimation of the homography matrix between the two views of the contour. Then, a 2 1/2 D visual servoing technique is used to reposition the end-effector of a robot at the reference position relative to the planar contour. The system has been successfully tested on several contours with very complex shapes such as leaves, keys, and coastal outlines of islands. Experiments using a ship mock-up without any artificial marker proves that the system can be applied to the ship-building industry.
 
dc.description.natureLink_to_subscribed_fulltext
 
dc.identifier.citationInternational Journal Of Robotics Research, 2003, v. 22 n. 10-11, p. 841-853 [How to Cite?]
 
dc.identifier.epage853
 
dc.identifier.issn0278-3649
2012 Impact Factor: 2.863
2012 SCImago Journal Rankings: 4.298
 
dc.identifier.issue10-11
 
dc.identifier.scopuseid_2-s2.0-0142027840
 
dc.identifier.spage841
 
dc.identifier.urihttp://hdl.handle.net/10722/155220
 
dc.identifier.volume22
 
dc.languageeng
 
dc.publisherSage Science Press (UK). The Journal's web site is located at http://www.sagepub.co.uk/journal.aspx?pid=105596
 
dc.publisher.placeUnited Kingdom
 
dc.relation.ispartofInternational Journal of Robotics Research
 
dc.relation.referencesReferences in Scopus
 
dc.subjectMatching
 
dc.subjectPlanar Contours
 
dc.subjectTracking
 
dc.subjectUnknown Shapes
 
dc.subjectVisual Servoing
 
dc.title2 1/2 D visual servoing with respect to planar contours having complex and unknown shapes
 
dc.typeArticle
 
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<contributor.author>Cipolla, R</contributor.author>
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<subject>Matching</subject>
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Author Affiliations
  1. INRIA Sophia Antipolis
  2. University of Cambridge
  3. Università degli Studi di Siena