Color-based visual servoing under varying illumination conditions

Visual servoing, or the control of motion on the basis of image analysis in a closed loop, is more and more recognized as 9 an important tool in modern robotics. Here, we present a new model-driven approach to derive a description of the motion 10 of a target object. This method can be subdivided into an illumination invariant target detection stage and a servoing process 11 which uses an adaptive Kalman filter to update the model of the non-linear system. This technique can be applied to any 12 pan–tilt zoom camera mounted on a mobile vehicle as well as to a static camera tracking moving environmental features. 13 © 2004 Published by Elsevier B.V. 14