Tracking Techniques for Visual Servoing Tasks

Many of the todays visual servoing systems rely o n use of markers o n the object to provide features for control. There i s thus a need fo r a visual system that provides control features regardless of the appearance of the object. Region based tracking is a natural approach since it does not require any special type of features. I n this paper we present two different approaches to region based tracking: a ) a multi-resolution gradaent based approach (using optical Bow) and b) a discrete feature based search approach. W e present experiments conducted with both techniques for dafferent types of image motions. Finally, the performance, drawbacks and limitations of used techniques are discussed.