Abstract-In this paper, we present an approach for the design and control of both reflexive and purposive visual tasks. The approach is based on the bidimensional appearance of the objects in the environment and explicitly takes into account independent object motions. A linear model of camera-object interaction is embedded in the control scheme, which dramatically simplifies visual analysis and control by reducing the size of visual representation. We describe the implementation of three visual tasks of increasing complexity, obtained with the proposed scheme and based on active contour analysis and polynomial planning of image contour transformations. Both simulations and real-time experiments with a robotic eye-in-hand configuration are discussed, validating the approach in terms of robustness and applicability to visual navigation, active exploration and perception, and human-robot interaction. Index Terms-Active and real-time vision, task specification and planning, vision-guided robotics.
Finally, an affine model of camera-object visual interaction is proposed in REF to perform both reflexive (regulation of image feature errors) and purposive (planning and regulation) visual tasks.
Image-Based Robot Task Planning and Control Using a Compact Visual Representation
IEEE Trans. Syst., Man, Cybern
Computer Science