This paper proposes a real-time, robust and efficient three-dimensional (3-D) model-based tracking algorithm for visual servoing. A virtual visual servoing approach is used for 3-D tracking. This method is similar to more classical nonlinear pose computation techniques. Robustness is obtained by integrating an M-estimator into the virtual visual control law via an iteratively reweighted least-squares implementation. The presented approach is also extended to the use of multiple cameras. Results show the method to be robust to occlusion, changes in illumination and mistracking.


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    Title :

    Stereo tracking and servoing for space applications


    Additional title:

    Stereo-Tracking and -Servoing für Raumfahrtanwendungen


    Contributors:

    Published in:

    Advanced Robotics ; 23 , 5 ; 579-599


    Publication date :

    2009


    Size :

    21 Seiten, 14 Bilder, 6 Tabellen, 18 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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