Visual tracking and control using Lie algebras

T. Drummond, R. Cipolla

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35 Citations (Scopus)


A novel approach to visual servoing is presented, which takes advantage of the structure of the Lie algebra of affine transformations. The aim of this project is to use feedback from a visual sensor to guide a robot arm to a target position. The sensor is placed in the end effector of the robot, the `camera-in-hand' approach, and thus provides direct feedback of the robot motion relative to the target scene via observed transformations of the scene. These scene transformations are obtained by measuring the affine deformations of a target planar contour, captured by use of an active contour, or snake. Deformations of the snake are constrained using the Lie groups of affine and projective transformations. Properties of the Lie algebra of affine transformations are exploited to integrate observed deformations to the target contour which can be compensated with appropriate robot motion using a non-linear control structure. These techniques have been implemented using a video camera to control a 5 DoF robot arm. Experiments with this implementation are presented, together with a discussion of the results.

Original languageEnglish
Title of host publicationProceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
PublisherIEEE Computer Society
Number of pages6
Publication statusPublished - 1 Jan 1999
Externally publishedYes
EventIEEE Conference on Computer Vision and Pattern Recognition 1999 - Fort Collins, United States of America
Duration: 23 Jun 199925 Jun 1999 (Proceedings)


ConferenceIEEE Conference on Computer Vision and Pattern Recognition 1999
Abbreviated titleCVPR 1999
CountryUnited States of America
CityFort Collins
Internet address

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