TY - GEN
T1 - Integrated tracking and control using condensation-based critical-point matching
AU - Chambers, Brad
AU - Hutchinson, Seth
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:14044252233
SN - 0780384636
SN - 9780780384637
T3 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
SP - 949
EP - 956
BT - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
T2 - 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Y2 - 28 September 2004 through 2 October 2004
ER -