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 language | English |
|---|---|
| Title of host publication | ICCAS 2010 - International Conference on Control, Automation and Systems |
| Pages | 1044-1048 |
| Number of pages | 5 |
| Publication status | Published - 2010 Dec 1 |
| Event | International Conference on Control, Automation and Systems, ICCAS 2010 - Gyeonggi-do, Korea, Republic of Duration: 2010 Oct 27 → 2010 Oct 30 |
Other
| Other | International Conference on Control, Automation and Systems, ICCAS 2010 |
|---|---|
| Country | Korea, Republic of |
| City | Gyeonggi-do |
| Period | 10/10/27 → 10/10/30 |
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Keywords
- Grasp
- Speeded-up robust features (SURF)
- Visual servoing
ASJC Scopus subject areas
- Artificial Intelligence
- Control and Systems Engineering
Cite this
Object tracking and visual servoing using features computed from local feature descriptor. / Anh, La Tuan; Song, Jae-Bok.
ICCAS 2010 - International Conference on Control, Automation and Systems. 2010. p. 1044-1048 5669666.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Object tracking and visual servoing using features computed from local feature descriptor
AU - Anh, La Tuan
AU - Song, Jae-Bok
PY - 2010/12/1
Y1 - 2010/12/1
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
SP - 1044
EP - 1048
BT - ICCAS 2010 - International Conference on Control, Automation and Systems
ER -