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Conference Paper: Automatic segmentation and matching of planar contours for visual servoing

TitleAutomatic segmentation and matching of planar contours for visual servoing
Authors
Issue Date2000
Citation
Proceedings - Ieee International Conference On Robotics And Automation, 2000, v. 3, p. 2753-2758 How to Cite?
AbstractIn this paper we present a complete system for segmenting, matching and tracking planar contours for use in visual servoing. 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 done 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 target position relative to the planar contour. The system has been successfully tested on several contours with very complex shapes such as leaves, keys and the coastal outlines of islands.
Persistent Identifierhttp://hdl.handle.net/10722/158282
ISSN
References

 

DC FieldValueLanguage
dc.contributor.authorChesi, Gen_US
dc.contributor.authorMalis, Een_US
dc.contributor.authorCipolla, Ren_US
dc.date.accessioned2012-08-08T08:58:53Z-
dc.date.available2012-08-08T08:58:53Z-
dc.date.issued2000en_US
dc.identifier.citationProceedings - Ieee International Conference On Robotics And Automation, 2000, v. 3, p. 2753-2758en_US
dc.identifier.issn1050-4729en_US
dc.identifier.urihttp://hdl.handle.net/10722/158282-
dc.description.abstractIn this paper we present a complete system for segmenting, matching and tracking planar contours for use in visual servoing. 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 done 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 target position relative to the planar contour. The system has been successfully tested on several contours with very complex shapes such as leaves, keys and the coastal outlines of islands.en_US
dc.languageengen_US
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automationen_US
dc.titleAutomatic segmentation and matching of planar contours for visual servoingen_US
dc.typeConference_Paperen_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-s2.0-0033707011en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-0033707011&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume3en_US
dc.identifier.spage2753en_US
dc.identifier.epage2758en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridChesi, G=7006328614en_US
dc.identifier.scopusauthoridMalis, E=6701382171en_US
dc.identifier.scopusauthoridCipolla, R=7006935878en_US

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