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Real-time visual servoing

Peter K. Allen; Billibon Yoshimi; Aleksandar Timcenko

Title:
Real-time visual servoing
Author(s):
Allen, Peter K.
Yoshimi, Billibon
Timcenko, Aleksandar
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings : 1991 IEEE International Conference on Robotics and Automation, April 9-11, 1991, Sacramento, California
Publisher:
IEEE
Publisher Location:
Los Alamitos, Calif.
Abstract:
A real-time tracking algorithm in conjunction with a predictive filter to allow real-time visual servoing of a robotic arm that is tracking a moving object is described. The system consists of two calibrated (but unregistered) cameras that provide images to a real-time, pipeline-parallel optic-flow algorithm that can robustly compute optic-flow and calculate the 3-D position of a moving object at approximately 5-Hz rates. These 3-D positions of the moving object serve as input to a predictive kinematic control algorithm that uses an α-β-γ filter to update the position of a robotic arm tracking the moving object. Experimental results are presented for the tracking of a moving model train in a variety of different trajectories.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1991.131694
Item views:
89
Metadata:
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