Advanced Search

Journal Navigation

Journal Home

Subscriptions

Archive

Contact Us

Table of Contents

Sign In to gain access to subscriptions and/or personal tools.
The International Journal of Robotics Research
This Article
Right arrow Full Text (PDF)
Right arrow References
Right arrow Alert me when this article is cited
Right arrow Alert me if a correction is posted
Services
Right arrow Email this article to a friend
Right arrow Similar articles in this journal
Right arrow Similar articles in Web of Science
Right arrow Alert me to new issues of the journal
Right arrow Add to Saved Citations
Right arrow Download to citation manager
Right arrowRequest Permissions
Right arrow Request Reprints
Right arrow Add to My Marked Citations
Citing Articles
Right arrow Citing Articles via HighWire
Right arrow Citing Articles via Web of Science (5)
Right arrow Citing Articles via Google Scholar
Right arrow Citing Articles via Scopus
Google Scholar
Right arrow Articles by Benhimane, S.
Right arrow Articles by Malis, E.
Right arrow Search for Related Content
Social Bookmarking
Add to CiteULike   Add to Complore   Add to Connotea   Add to Del.icio.us   Add to Digg   Add to Reddit   Add to Technorati   Add to Twitter  
What's this?

Homography-based 2D Visual Tracking and Servoing

S. Benhimane

INRIA 2004, route des Lucioles - B.P. 93, 06902 Sophia Antipolis Cedex, France

E. Malis

INRIA 2004, route des Lucioles - B.P. 93, 06902 Sophia Antipolis Cedex, France

The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher convergence rate than standard first-order minimization techniques. Therefore, it is well adapted to real-time robotic applications. The output of the visual tracking is a homography linking the current and the reference image of a planar target. Using the homography, a task function isomorphic to the camera pose has been designed. A new image-based control law is proposed which does not need any measure of the 3D structure of the observed target (e.g. the normal to the plane). The theoretical proof of the existence of the isomorphism between the task function and the camera pose and the theoretical proof of the stability of the control law are provided. The experimental results, obtained with a 6 d.o.f. robot, show the advantages of the proposed method with respect to the existing approaches.

Key Words: visual tracking • visual servoing • efficient second-order minimization • homography-based control law

The International Journal of Robotics Research, Vol. 26, No. 7, 661-676 (2007)
DOI: 10.1177/0278364907080252
Add to CiteULike CiteULike   Add to Complore Complore   Add to Connotea Connotea   Add to Del.icio.us Del.icio.us   Add to Digg Digg   Add to Reddit Reddit   Add to Technorati Technorati   Add to Twitter Twitter    What's this?


This article has been cited by other articles:


Home page
 The International Journal of Robotics ResearchHome page
M. Pressigout and E. Marchand
Real-time Hybrid Tracking using Edge and Texture Information
The International Journal of Robotics Research, July 1, 2007; 26(7): 689 - 713.
[Abstract] [PDF]