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Article: 2 1/2 D visual servoing with respect to planar contours having complex and unknown shapes

Title2 1/2 D visual servoing with respect to planar contours having complex and unknown shapes
Authors
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
Citation
International Journal Of Robotics Research, 2003, v. 22 n. 10-11, p. 841-853 How to Cite?
Abstract
In 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.
Persistent Identifierhttp://hdl.handle.net/10722/155220
ISSN
2013 Impact Factor: 2.503
2013 SCImago Journal Rankings: 3.330
References

 

DC FieldValueLanguage
dc.contributor.authorMalis, Een_US
dc.contributor.authorChesi, Gen_US
dc.contributor.authorCipolla, Ren_US
dc.date.accessioned2012-08-08T08:32:25Z-
dc.date.available2012-08-08T08:32:25Z-
dc.date.issued2003en_US
dc.identifier.citationInternational Journal Of Robotics Research, 2003, v. 22 n. 10-11, p. 841-853en_US
dc.identifier.issn0278-3649en_US
dc.identifier.urihttp://hdl.handle.net/10722/155220-
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.en_US
dc.languageengen_US
dc.publisherSage Science Press (UK). The Journal's web site is located at http://www.sagepub.co.uk/journal.aspx?pid=105596en_US
dc.relation.ispartofInternational Journal of Robotics Researchen_US
dc.subjectMatchingen_US
dc.subjectPlanar Contoursen_US
dc.subjectTrackingen_US
dc.subjectUnknown Shapesen_US
dc.subjectVisual Servoingen_US
dc.title2 1/2 D visual servoing with respect to planar contours having complex and unknown shapesen_US
dc.typeArticleen_US
dc.identifier.emailChesi, G:chesi@eee.hku.hken_US
dc.identifier.authorityChesi, G=rp00100en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.scopuseid_2-s2.0-0142027840en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0142027840&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume22en_US
dc.identifier.issue10-11en_US
dc.identifier.spage841en_US
dc.identifier.epage853en_US
dc.publisher.placeUnited Kingdomen_US
dc.identifier.scopusauthoridMalis, E=6701382171en_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridCipolla, R=7006935878en_US

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