@inproceedings{3ffdda8ea39344358ba0b1ba142b237e,
title = "Markerless Visual Servoing Using Virtual Face Tag and Image Moment Invariants",
abstract = "A novel normalized-centered image moment invariant-based visual servoing scheme is presented. A fresh combination of the moments invariants is proposed for planar symmetrical objects that are parallel to the image plane at the desired position. The output of the face detection module in the image plane, that is a rectangle around the face is used as a virtual target, treated as a planar symmetrical object which always remains parallel to the image plane. The proposed method completely decouples the DoF and is 2D translation, rotation, and scaling invariant. It was experimentally validated on a real robotic arm using a haar cascade-based face detection system to accomplish visual servoing tasks for both 2D printed faces and actual 3D faces. Unlike traditional deep learning based visual servoing schemes, the proposed markerless visual servoing technique does not require a 3D model of the face or a reference image/pose at the desired position and it can also work with unfamiliar faces without prior training.",
keywords = "face detection, IBVS, Image moment, markerless visual servoing, moment invariant",
author = "Arif Zubair and Yili Fu and Amjad Sohail and Anwar Khadija",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 4th International Conference on Robotics and Computer Vision, ICRCV 2022 ; Conference date: 25-09-2022 Through 27-09-2022",
year = "2022",
doi = "10.1109/ICRCV55858.2022.9953259",
language = "英语",
series = "2022 4th International Conference on Robotics and Computer Vision, ICRCV 2022",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "123--128",
booktitle = "2022 4th International Conference on Robotics and Computer Vision, ICRCV 2022",
address = "美国",
}