Frequency Domain Visual Servoing Using Planar Contours

Visesh Chari, Avinash Sharma, Anoop Namboodiri, C.V. Jawahar
2008 2008 Sixth Indian Conference on Computer Vision, Graphics & Image Processing  
Fourier domain methods have had a long association with geometric vision. In this paper, we introduce Fourier domain methods into the field of visual servoing for the first time. We show how different properties of Fourier transforms may be used to address specific issues in traditional visual servoing methods, giving rise to algorithms that are more flexible. Specifically, we demonstrate how Fourier analysis may be used to obtain straight camera paths in the Cartesian space, do path following
more » ... nd correspondenceless visual servoing. Most importantly, by introducing Fourier techniques, we set a framework into which robust Fourier based geometry processing algorithms may be incorporated to address the various issues in servoing.
doi:10.1109/icvgip.2008.63 dblp:conf/icvgip/ChariSNJ08 fatcat:uypoiuldcjbzneqyyu3ihimcru