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The International Journal of Robotics Research
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Application of Motion-Based Visual Servoing to Target Tracking

Armel Crétual

IRISA/INRIA Rennes, Campus de Beaulieu, 35042 Rennes cedex, Francearmel.cretual{at}irisa.fr

François Chaumette

IRISA/INRIA Rennes, Campus de Beaulieu, 35042 Rennes cedex, France

In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of designing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration necessary to reduce the tracking error. A second method, more efficient for target tracking, consists of retrieving the target position in the image from its estimated motion. This leads to classical image-based visual servoing. For both methods, experimental results obtained at video rate are presented and discussed.

Key Words: visual servoing • 2D image motion • target tracking • image stabilization

The International Journal of Robotics Research, Vol. 20, No. 11, 878-890 (2001)
DOI: 10.1177/02783640122068164
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A. Cretual and F. Chaumette
Visual Servoing Based on Image Motion
The International Journal of Robotics Research, November 1, 2001; 20(11): 857 - 877.
[Abstract] [PDF]