USING SIMPLE NUMERICAL SCHEMES TO COMPUTE VISUAL FEATURES WHENEVER UNAVAILABLE - Application to a Vision-Based Task in a Cluttered Environment

David FOLIO; Viviane CADENAT

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Paper

USING SIMPLE NUMERICAL SCHEMES TO COMPUTE VISUAL FEATURES WHENEVER UNAVAILABLE - Application to a Vision-Based Task in a Cluttered Environment

Topics: Mobile Robots and Autonomous Systems; Robot Design, Development and Control

In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, 326-332, 2007 , Angers, France

Authors: David FOLIO and Viviane CADENAT

Affiliation: LAAS/CNRS, 7 avenue du Colonel ROCHE; Paul SABATIER University, France

Keyword(s): Visual features estimation, visual servoing, collision avoidance.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: In this paper, we address the problem of estimating image features whenever they become unavailable during a vision-based task. The method consists in using numerical algorithm to compute the lacking data and allows to treat both partial and total visual features loss. Simulation and experimental results validate our work for two different visual-servoing navigation tasks. A comparative analysis allows to select the most efficient algorithm.

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Paper citation in several formats:

FOLIO, D. and CADENAT, V. (2007). USING SIMPLE NUMERICAL SCHEMES TO COMPUTE VISUAL FEATURES WHENEVER UNAVAILABLE - Application to a Vision-Based Task in a Cluttered Environment. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO; ISBN 978-972-8865-83-2; ISSN 2184-2809, SciTePress, pages 326-332. DOI: 10.5220/0001628503260332

@conference{icinco07,
author={David FOLIO. and Viviane CADENAT.},
title={USING SIMPLE NUMERICAL SCHEMES TO COMPUTE VISUAL FEATURES WHENEVER UNAVAILABLE - Application to a Vision-Based Task in a Cluttered Environment},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO},
year={2007},
pages={326-332},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001628503260332},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO
TI - USING SIMPLE NUMERICAL SCHEMES TO COMPUTE VISUAL FEATURES WHENEVER UNAVAILABLE - Application to a Vision-Based Task in a Cluttered Environment
SN - 978-972-8865-83-2
IS - 2184-2809
AU - FOLIO, D.
AU - CADENAT, V.
PY - 2007
SP - 326
EP - 332
DO - 10.5220/0001628503260332
PB - SciTePress