A Robust Design for Image-based Visual Servoing

Hajer Abidi, Khaled Kaaniche, Hassen Mekki, Mohamed Chtourou

Abstract

In this paper we introduce a new robust visual scheme intended to 2D visual servoing robotic tasks. The main object is to direct the robot to its desired position. To be able to carry out such a task robustly the tough and major step is primarily the image processing procedure. We should find good selections of visual data in order to be correctly matched and interpreted by the visual control law regardless of the different sorts of errors. The new proposed design combines the speed up robust features (SURF) algorithm and progressive sample consensus (PROSAC) algorithm to accomplish a good feature extraction and to rapidly resist the environment constraints while removing the erroneous matches.

References

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Paper Citation


in Harvard Style

Abidi H., Kaaniche K., Mekki H. and Chtourou M. (2013). A Robust Design for Image-based Visual Servoing . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 139-146. DOI: 10.5220/0004428301390146


in Bibtex Style

@conference{icinco13,
author={Hajer Abidi and Khaled Kaaniche and Hassen Mekki and Mohamed Chtourou},
title={A Robust Design for Image-based Visual Servoing},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={139-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004428301390146},
isbn={978-989-8565-70-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Robust Design for Image-based Visual Servoing
SN - 978-989-8565-70-9
AU - Abidi H.
AU - Kaaniche K.
AU - Mekki H.
AU - Chtourou M.
PY - 2013
SP - 139
EP - 146
DO - 10.5220/0004428301390146