2D Legendre Moments-based Visual Control

Among region-based descriptors, geometric moments have been widely exploited to design visual servoing schemes. However, they present several disadvantages such as high sensitivity to noise measurement, high dynamic range and information redundancy (since they are not computed onto orthogonal basis). In this paper, we propose to use a class of orthogonal moments (namely Legendre moments) instead of geometric moments to improve the behavior of moment-based control schemes. The descriptive form of the interaction matrix related to the Legendre moments computed from a set of points is first derived. Six visual features are then selected to design a partially-decoupled control scheme. Finally simulated and experimental results are presented to illustrate the validity of our proposal.