Features tracking for visual servoing purpose

摘要

Elaboration of objects tracking algorithms in image sequences is an important issue for research and application related to visual servoing and more generally for robot vision. A robust extraction and real-time spatiotemporal tracking process of visual cue is indeed one of the keys to success, or to failure, of a visual servoing task. To consider visual servoing within large scale applications, it is now fundamental to consider natural scenes without any fiducial markers and with complex objects in various illumination conditions. In this paper we give an overview of a few tracking algorithms developed for visual servoing experiments at IRISA-INRIA Rennes.