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Image Based Visual Servoing Using Bitangent Points Applied to Planar Shape Alignment
Authors: E. Ozgur, M. Unel
Published in: The 13th IASTED International Conference on Robotics and Applications (RA’07)
Publication year: 2007
Abstract: 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.

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