Application of moment invariants to visual servoing

Abstract— In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimize the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 dof eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Omar Tahri, François Chaumette
• Keywords: Dof Eye-in-hand, ICRA 2003, Moment Invariants, Robotics, Visual Servoing Scheme