TY - GEN
T1 - Visual Servoing under Changing Illumination Conditions
AU - De Cubber, Geert
AU - Sahli, Hichem
AU - Colon, Eric
AU - Baudoin, Yvan
PY - 2003
Y1 - 2003
N2 - Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as an important tool in modern robotics. In this paper, we present a new model-driven approach to derive a description of the motion of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process which uses an adaptive Kalman filter to update the model of the nonlinear system. This technique can be applied to any pan-tilt-zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features
AB - Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as an important tool in modern robotics. In this paper, we present a new model-driven approach to derive a description of the motion of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process which uses an adaptive Kalman filter to update the model of the nonlinear system. This technique can be applied to any pan-tilt-zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features
UR - http://mecatron.rma.ac.be/pub/2003/ICVS03_Geert.pdf
UR - https://www.mendeley.com/catalogue/bba8f585-0c82-3a65-b009-d3a22604e79d/
M3 - Conference contribution
BT - Proc. International Workshop on Attention and Performance in Computer Vision (ICVS03)
ER -