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

File Download
  • No File Attached
Links for fulltext
(May Require Subscription)
Supplementary

  • Basic View
  • Metadata View
  • XML View
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
2011 Impact Factor: 3.107
2011 SCImago Journal Rankings: 0.078
ReferencesReferences in Scopus
DC Field
Value
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
2011 Impact Factor: 3.107
2011 SCImago Journal Rankings: 0.078
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
Author Affiliations
  1. INRIA Sophia Antipolis
  2. University of Cambridge
  3. Università degli Studi di Siena