Technical reports:
Real-Time Visual Servoing
Peter K. Allen; Billibon Yoshimi; Aleksandar Timcenko
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- Title:
- Real-Time Visual Servoing
- Author(s):
-
Allen, Peter K.
Yoshimi, Billibon
Timcenko, Aleksandar - Date:
- 1990
- Type:
- Technical reports
- Department:
- Computer Science
- Permanent URL:
- http://hdl.handle.net/10022/AC:P:12762
- Series:
- Columbia University Computer Science Technical Reports
- Part Number:
- CUCS-035-90
- Publisher:
- Department of Computer Science, Columbia University
- Publisher Location:
- New York
- Abstract:
- This paper describes a new real-time tracking algorithm in conjunction with a predictive filter to allow real-time visual servoing of a robotic arm that is following a moving object. The system consists of two calibrated (but unregistered) cameras that provide images to a real-time, pipelined-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):
- Computer science
- Item views:
- 36