Image based Visual Servoing using Bitangents Points Applied to Planar Shape Alignment

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, veriļ¬es the proposed method.

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