E. Ozgur and M. Unel (Turkey)
Visual servoing, alignment, convex hull, bitangents
We present visual servoing strategies based on bitangents
for aligning planar shapes. In order to acquire bitangents
we use convex-hull of a curve. Bitangent points are em
ployed in the construction of a feature vector to be used in
visual control. Experimental results obtained on a 7 DOF
Mitsubishi PA10 robot, veriﬁes the proposed method.