Robotic manipulation of daily-life objects is an essential requirement in service robotic applications. In that context image based visual servoing is a means to position the end-effector in order to manipulate objects of unknown pose. This contribution proposes a 6 DOF visual servoing scheme that relies on the pixel coordinates, scale and orientation of SIFT features. The control is based on geometric moments computed over an alterable set of redundant SIFT feature correspondences between the current and the reference view. The method is generic as it does not depend on a geometric object model but automatically extracts SIFT features from images of the object. The foundation of visual servoing on generic SIFT features renders the method robust with respect to loss of redundant features caused by occlusion or changes in view point.The moment based representation establishes an approximate one-to-one relationship between visual features and degrees of motion. This property is exploited in the design of a decoupled controller that demonstrates superior performance in terms of convergence and robustness compared with an inverse image Jacobian controller. Several experiments with a robotic arm equipped with a monocular eye-in-hand camera demonstrate that the approach is efficient and reliable.


    Access

    Download


    Export, share and cite



    Title :

    Visual servoing with moments of SIFT features


    Contributors:

    Publication date :

    2006-05-01



    Type of media :

    Paper


    Type of material :

    Electronic Resource


    Language :

    English


    Keywords :

    Classification :

    DDC:    004 / 629 / 620



    Visual servoing with moments of SIFT features

    Sonderforschungsbereich Design und Management Komplexer Technischer Prozesse und Systeme mit Methoden der Computational Intelligence | TIBKAT | 2006


    Weighted moments of SIFT-features for decoupled visual servoing in 6DOF

    Hoffmann, Frank / Kahn, Umar / Krettek, Johannes et al. | BASE | 2007

    Free access

    Time-optimal large view visual servoing with dynamic sets of SIFT

    Hoffmann, Frank / Kahn, Umar / Krettek, Johannes et al. | BASE | 2007

    Free access

    Visual Servoing Systems

    Copot, Cosmin / Ionescu, Clara Mihaela / Muresan, Cristina I. | Springer Verlag | 2020


    Visual servoing based on ellipse features [2056-38]

    Rives, P. / Michel, H. / SPIE | British Library Conference Proceedings | 1993