Color-based visual servoing under varying illumination conditions

Geert De Cubber, Sid Ahmed Berrabah, Hichem Sahli

Research output: Contribution to journalArticlepeer-review

Abstract

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. Here, 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 non-linear 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.

Original languageEnglish
Pages (from-to)225-249
Number of pages25
JournalRobotics and Autonomous Systems
Volume47
Issue number4
DOIs
Publication statusPublished - 31 Jul 2004

Keywords

  • Bayesian modeling
  • Color constancy
  • Target tracking
  • Visual servoing

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