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Cue integration for visual servoing
KTH, Superseded Departments, Numerical Analysis and Computer Science, NADA.ORCID iD: 0000-0003-2965-2953
2001 (English)In: IEEE transactions on robotics and automation, ISSN 1042-296X, Vol. 17, no 1, 18-27 p.Article in journal (Refereed) Published
Abstract [en]

The robustness and reliability of vision algorithms is, nowadays, the key issue in robotic research and industrial applications. To control a robot in a closed-loop fashion, different tracking systems have been reported in the literature, A common approach to increased robustness of a tracking system is the use of different models (CAD model of the object, motion model) known a priori, Our hypothesis is that fusion of multiple features facilitates robust detection and tracking of objects in scenes of realistic complexity. A particular application is the estimation of a robot's end-effector position in a sequence of images. The research investigates the following two different approaches to cue integration: 1) voting and 2) fuzzy logic-based fusion, The two approaches have been tested in association,vith scenes of varying complexity. Experimental results clearly demonstrate that fusion of cues results in a tracking system with a robust performance. The robustness is in particular evident for scenes with multiple moving objects and partial occlusion of the tracked object.

Place, publisher, year, edition, pages
2001. Vol. 17, no 1, 18-27 p.
Keyword [en]
fuzzy logic, tracking, visual cues, visual servoing, voting, tracking
URN: urn:nbn:se:kth:diva-20512ISI: 000167988200002OAI: diva2:339207
QC 20100525Available from: 2010-08-10 Created: 2010-08-10Bibliographically approved

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Kragic, Danica
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