6533b7dcfe1ef96bd1272b0a

RESEARCH PRODUCT

Visual Servoing Based on Shifted Moments

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Over the past decade, image moments have been exploited in several visual servoing schemes for their ability to represent object regions, objects defined by contours or a set of discrete points. Moments have also been useful to achieve control decoupling properties and to choose a minimal number of features to control the whole degrees of freedom (DOFs) of a camera. However, the choice of moment-based features to control the rotational motions around the $x$ -axis and $y$ -axis simultaneously with the translational motions along the same axis remains a key issue. In this paper, we introduce new visual features computed from low-order “shifted moments invariant.” Importantly, they allow us 1) to define a unique combination of visual features to control the whole six DOFs of an eye-in-hand camera independently from the object shape and (2) to significantly enlarge the convergence domain of the closed-loop system.