Title:
2002-A-first-step-toward-visual-servoing-using-im
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Description: In this paper, we determine the analytical form of
the interaction matrix related to any moments that
can be computed from binary or segmented images.
We then apply this theoretical result to image-based
visual servoing by selecting six combinations of mo-
ments able to control the six dof of the system. The
experimental results we present show that a correct
behavior of the system is obtained if we consider ei-
ther a simple symetrical object, either a planar object
with complex and unknown shape.
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2002 A first step toward visual servoing using image moments.pdf
