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.
De Cubber, G, Berrabah, SA & Sahli, H 2004, 'Colour-Based Visual Servoing Under Varying Illumination Conditions', Robotics and Autonomous Systems, vol. 47, no. 4, pp. 225-249.
De Cubber, G., Berrabah, SA., & Sahli, H. (2004). Colour-Based Visual Servoing Under Varying Illumination Conditions. Robotics and Autonomous Systems, 47(4), 225-249.
@article{489cce9683d54304aa195c81e4288bfc,
title = "Colour-Based Visual Servoing Under Varying Illumination Conditions",
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.",
author = "{De Cubber}, Geert and Sid'Ahmed Berrabah and Hichem Sahli",
year = "2004",
language = "English",
volume = "47",
pages = "225--249",
journal = "Robotics and Autonomous Systems",
issn = "0921-8890",
publisher = "Elsevier",
number = "4",
}