Image-based visual servoing using improved image moments in 6-DOF robot systems

  • Yimin Zhao
  • Wen-Fang Xie
  • Sining Liu
Regular Paper Robotics and Automation


This paper addresses the challenges of choosing proper image features for planar symmetric shape objects and designing visual servoing controller to enhance the tracking performance in image-based visual servoing (IBVS). Six image moments are chosen as the image features and the analytical image interaction matrix related to the image features are derived. A controller is designed to efficiently increase the robustness of the visual servoing system. Experimental results on a 6-DOF robot visual servoing system are provided to illustrate the effectiveness of the proposed method.


Image moment image-based visual servoing robotic system visual servoing 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Department of Mechanical & Industrial EngineeringConcordia UniversityMontrealCanada

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