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Authors: Hajer Abidi 1 ; Khaled Kaaniche 2 ; Hassen Mekki 2 and Mohamed Chtourou 1

Affiliations: 1 University of Sfax, Tunisia ; 2 University of Sfax and University of Sousse, Tunisia

Keyword(s): 2D Visual Servoing, Robust Design, Matching, SURF, PROSAC.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Machine Learning in Control Applications ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vision, Recognition and Reconstruction

Abstract: In this paper we introduce a new robust visual scheme intended to 2D visual servoing robotic tasks. The main object is to direct the robot to its desired position. To be able to carry out such a task robustly the tough and major step is primarily the image processing procedure. We should find good selections of visual data in order to be correctly matched and interpreted by the visual control law regardless of the different sorts of errors. The new proposed design combines the speed up robust features (SURF) algorithm and progressive sample consensus (PROSAC) algorithm to accomplish a good feature extraction and to rapidly resist the environment constraints while removing the erroneous matches.

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Paper citation in several formats:
Abidi, H. ; Kaaniche, K. ; Mekki, H. and Chtourou, M. (2013). A Robust Design for Image-based Visual Servoing. In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8565-70-9; ISSN 2184-2809, SciTePress, pages 139-146. DOI: 10.5220/0004428301390146

@conference{icinco13,
author={Hajer Abidi and Khaled Kaaniche and Hassen Mekki and Mohamed Chtourou},
title={A Robust Design for Image-based Visual Servoing},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2013},
pages={139-146},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004428301390146},
isbn={978-989-8565-70-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Robust Design for Image-based Visual Servoing
SN - 978-989-8565-70-9
IS - 2184-2809
AU - Abidi, H.
AU - Kaaniche, K.
AU - Mekki, H.
AU - Chtourou, M.
PY - 2013
SP - 139
EP - 146
DO - 10.5220/0004428301390146
PB - SciTePress

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