Real-time feature tracking and projective invariance as a basis for hand-eye coordination

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This article presents a methodology for using stereo visual feedback to perform manipulation tasks. The two major innovations in the approach are: 1) the use of feature-based tracking methods that perform in real-time on standard workstations without specialized hardware; and 2) the use of closed-loop feedback control based on projective invariants to make positioning accuracy independent of hand-eye calibration error. Particular attention is given to the feature tracking component of the system. The feature tracker is a programming environment that supports a variety of low-level detection methods (basic features), and features defined in terms of other features (composite features). Basic and composite features are combined into feature networks. Experimental results from two feature networks are presented. One computes corresponding epipolar lines using eight corresponding features in two images. The second computes a visual trajectory for a visual servoing system.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
PublisherPubl by IEEE
Pages533-539
Number of pages7
ISBN (Print)0818658274, 9780818658273
DOIs
StatePublished - 1994
EventProceedings of the 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Seattle, WA, USA
Duration: Jun 21 1994Jun 23 1994

Publication series

NameProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
ISSN (Print)1063-6919

Other

OtherProceedings of the 1994 IEEE Computer Society Conference on Computer Vision and Pattern Recognition
CitySeattle, WA, USA
Period6/21/946/23/94

ASJC Scopus subject areas

  • Software
  • Computer Vision and Pattern Recognition

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  • Cite this

    Hager, G. D. (1994). Real-time feature tracking and projective invariance as a basis for hand-eye coordination. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (pp. 533-539). (Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition). Publ by IEEE. https://doi.org/10.1109/cvpr.1994.323878