Color-based visual servoing under varying illumination conditions

✍ Scribed by Geert De Cubber; Sid Ahmed Berrabah; Hichem Sahli

• Book ID: 104090686
• Publisher: Elsevier Science
• Year: 2004
• Tongue: English
• Weight: 1012 KB
• Volume: 47
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2004.03.015

✦ Synopsis

Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as an important tool in modern robotics. Here, we present a new model-driven approach to derive a description of the motion of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process which uses an adaptive Kalman filter to update the model of the non-linear system. This technique can be applied to any pan-tilt zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features.