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| In this paper, we propose a new approach to vision-based robot control, called 2 1/2 D visual servoing, which avoids the respective drawbacks of classical position-based and image-based visual servoing. Contrary to the position-based visual servoing, our scheme does not need any geometric 3D model of the object. Furthermore and contrary to image-based(More)
The objective of this paper is to propose a new homography-based approach to image-based visual tracking and servoing. The visual tracking algorithm proposed in the paper is based on a new efficient second-order minimization method. Theoretical analysis and comparative experiments with other tracking approaches show that the proposed method has a higher(More)
The tracking algorithm presented in this paper is based on minimizing the sum-of-squared-difference between a given template and the current image. Theoretically, amongst all standard minimization algorithms, the Newton method has the highest local convergence rate since it is based on a second-order Taylor series of the sum-of-squared-differences. However,(More)
  • Ezio Malis
  • 2004
In this paper, several vision-based robot control methods are classified following an analogy with well known minimization methods. Comparing the rate of convergence between minimization algorithms helps us to understand the difference of performance of the control schemes. In particular, it is shown that standard vision-based control methods have in(More)
This article investigates the use of time-of-flight (ToF) cameras in mapping tasks for autonomous mobile robots, in particular in simultaneous localization and mapping May et al.: 3D Mapping with Time-of-Flight Cameras • 935 (SLAM) tasks. Although ToF cameras are in principle an attractive type of sensor for three-dimensional (3D) mapping owing to their(More)
This paper describes a new image-based approach to tracking the 6DOF trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the scene. A dense minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to(More)
In this paper, we investigate how to improve the robustness of visual tracking methods with respect to generic lighting changes. We propose a new approach to the direct image alignment of either Lambertian or non-Lambertian objects under shadows, inter-reflections, glints as well as ambient, diffuse and specular reflections which may vary in power, type,(More)
As image registration becomes more and more central to many biomedical imaging applications, the efficiency of the algorithms becomes a key issue. Image registration is classically performed by optimizing a similarity criterion over a given spatial transformation space. Even if this problem is considered as almost solved for linear registration, we show in(More)
— This paper describes a new image-based approach to tracking the 6 degrees of freedom trajec-tory of a stereo camera pair using a corresponding reference image pair whilst simultaneously determining pixel matching between consecutive images in a sequence. A dense minimisation approach is employed which directly uses all grey-scale information available(More)