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Visual servoing (VS) is an automatic control technique which uses the feedback of visual information to guide the robot motion to converge to the desired location. This paper proposes new moment-based features for robust VS with spheres, especially in cameras obeying the unified model. Specifically, we introduce a virtual plane to reload contours of image projections of spheres, in the process of...
Moment-based features have been intensively explored in visual servoing (VS) applications, especially when lack of representational rigid points like in the bottle production line. Convergence and many other constraints exist in VS with image moments have seldom been simultaneously considered in the literature. This paper takes bottle-shape like cylinders as a target and proposes a set of new moment-based...
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