Photometric Visual Servoing

• Published in: IEEE transactions on robotics Vol. 27; no. 4; pp. 828 - 834
• Main Authors: Collewet, C., Marchand, E.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01.08.2011; Institute of Electrical and Electronics Engineers; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptative systems; Applied sciences; Artificial intelligence; Automatic Control Engineering; Cameras; Computation; Computational modeling; Computer Science; Computer science; control theory; systems; Control theory. Systems; Cost function; Exact sciences and technology; Kinematics; Lighting; Luminance; Matrix; optimization; Pattern recognition. Digital image processing. Computational geometry; photometry; Robotics; Robust control; Straight lines; Tasks; Tracking; Vision systems; Visual; visual features; Visual servoing; Visualization; Occlusion; Positioning; Tracking; Tracking task; Visual servoing; Modeling; Optimization; Robotics; Luminance; Homograph; Tracking(movable target); visual features; Illumination; Cost function; Robustness; Occultation; Photometry; VISUAL SERVOING, ROBOTICS; LUMINANCE, LUMINANCE

This paper proposes a new way to achieve robotic tasks by two-dimensional (2-D) visual servoing. Indeed, instead of using classical geometric features such as points, straight lines, pose, or a homography, as is usually done, the luminance of all pixels in the image is considered here. The main adva...