Real-time visual servoing

Articles:

Title:: Real-time visual servoing
Author(s):: Allen, Peter K.
Yoshimi, Billibon
Timcenko, Aleksandar
Date:: 1991
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15245
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
DOI:: http://dx.doi.org/10.1109/ROBOT.1991.131694