A geometrical visual servoing approach based on statistical modeling

The book is basically aimed at postgraduates, academics, researchers and practicing engineers in the broader fields of Electrical/ Electronics Mechanical Engineering.. A geometrical visual servoing approach using real time tracking based on statistical modeling is presented. A new algorithm based on statistical modeling for real time tracking of moving objects under different conditions has been proposed and implemented. A proper feature vector is used to classify the foreground from the background using maxima-posteriori probability (MAP) estimate. The article also develops a robust background subtraction algorithm in a number of steps to be used in real time tracking. A novel and rigorous sliding-adaptive control algorithm was presented and implemented for the robotic arm manipulator. This algorithm was finally used with the real time tracking algorithm. Finally experimental results are presented. The results include offline and online teal-time moving object tracking.