TY - GEN
T1 - Object tracking and visual servoing using features computed from local feature descriptor
AU - Anh, La Tuan
AU - Song, Jae Bok
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
KW - Grasp
KW - Speeded-up robust features (SURF)
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=78751473278&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=78751473278&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78751473278
SN - 9781424474530
T3 - ICCAS 2010 - International Conference on Control, Automation and Systems
SP - 1044
EP - 1048
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2010
Y2 - 27 October 2010 through 30 October 2010
ER -