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Unified point and image moment features for image based predictive visual servoing systems

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3 Author(s)

In this paper a unified visual features extraction structure was introduced for point and image moment features. Starting from the unified point and image moment features, a predictive controller for image-based visual servoing systems was developed and it includes unified image prediction and reference trajectory schemes together with an optimizer block. The control performance of the predictive architecture was evaluated through simulation results via a simulator created for visual servoing of robot manipulators.

Published in:

Optimization of Electrical and Electronic Equipment (OPTIM), 2012 13th International Conference on

Date of Conference:

24-26 May 2012

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