Integrated tracking and control using condensation-based critical-point matching

Brad Chambers, Seth Hutchinson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Image matching via multiresolution critical-point hierarchies has been shown to be useful in feature point selection, real-time tracking, volume rendering, and image interpolation. Drawbacks of the method include computational complexity and a lack of constraints on rigid motion. In this paper we present a method by which robot end-effector velocities are tracked using the Condensation algorithm and critical-point image observations. By using a window-based approach, we immediately reduce complexity while imposing constraints on camera motion. We show that the critical-point observations are successful in estimating camera motion by evaluating the similarity of sample windows.

Original languageEnglish (US)
Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages949-956
Number of pages8
Volume1
StatePublished - 2004
Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
Duration: Sep 28 2004Oct 2 2004

Other

Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CountryJapan
CitySendai
Period9/28/0410/2/04

ASJC Scopus subject areas

  • Engineering(all)

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