Image moments: generic descriptors for decoupled image-based visual servo

@article{Tahri2004ImageMG,
  title={Image moments: generic descriptors for decoupled image-based visual servo},
  author={Omar Tahri and François Chaumette},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={2},
  pages={1185-1190 Vol.2}
}
Moments are generic and (usually) intuitive descriptors that can be computed from several kinds of objects defined either from closed contours (continuous object) or a set of points (discrete object). In this paper, we propose to use moments to design a decoupled image-based visual servo. The analytical form of the interaction matrix related to the moments computed for a discrete object is derived, and we show that it is different of the form obtained for a continuous object. Six visual… CONTINUE READING
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