Image based visual servoing using algebraic curves applied to shape alignment

Ahmet Yasin Yazicioglu, Berk Calli, Mustafa Unel
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Visual servoing schemes generally employ various image features (points, lines, moments etc.) in their control formulation. This paper presents a novel method for using boundary information in visual servoing. Object boundaries are modeled by algebraic equations and decomposed as a unique sum of product of lines. We propose that these lines can be used to extract useful features for visual servoing purposes. In this paper, intersection of these lines are used as point features in visual
more » ... . Simulations are performed with a 6 DOF Puma 560 robot using Matlab Robotics Toolbox for the alignment of a free-form object. Also, experiments are realized with a 2 DOF SCARA direct drive robot. Both simulation and experimental results are quite promising and show potential of our new method. 978-1-4244-3804-4/09/$25.00 ©2009 IEEE
doi:10.1109/iros.2009.5354310 dblp:conf/iros/YaziciogluCU09 fatcat:c4ql3bq57zah5igewjre6225eu