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.
Stereo tracking and servoing for space applications
Stereo-Tracking and -Servoing für Raumfahrtanwendungen
Advanced Robotics ; 23 , 5 ; 579-599
2009
21 Seiten, 14 Bilder, 6 Tabellen, 18 Quellen
Article (Journal)
English
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