Object tracking and visual servoing using features computed from local feature descriptor

La Tuan Anh, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

In service robot applications, tracking and visual servoing are essential to find objects and position the end-effector of a robot to manipulate an object. In this paper, we propose a high-speed object tracking method based on a window approach and a local feature descriptor, SURF (Speeded-Up Robust Features). The visual servo controller uses geometrical features that are computed directly from the set of SURF interest points, which makes a method robust to the loss of features caused by occlusion or changes in the view point. Furthermore, these features decouple the translations and rotations from the image Jacobian and also keep the object inside the field of view of the camera. Various experiments with a robotic arm equipped with a monocular eye-in-hand camera demonstrate that objects can be grasped safely and stably in the cluttered environment using the proposed method.

Original languageEnglish
Title of host publicationICCAS 2010 - International Conference on Control, Automation and Systems
Pages1044-1048
Number of pages5
Publication statusPublished - 2010
EventInternational Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of
Duration: 2010 Oct 272010 Oct 30

Publication series

NameICCAS 2010 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2010
CountryKorea, Republic of
CityGyeonggi-do
Period10/10/2710/10/30

Keywords

  • Grasp
  • Speeded-up robust features (SURF)
  • Visual servoing

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Anh, L. T., & Song, J. B. (2010). Object tracking and visual servoing using features computed from local feature descriptor. In ICCAS 2010 - International Conference on Control, Automation and Systems (pp. 1044-1048). [5669666] (ICCAS 2010 - International Conference on Control, Automation and Systems).