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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:
Technical reports
Department:
Computer Science
Permanent URL:
Series:
Columbia University Computer Science Technical Reports
Part Number:
CUCS-035-90
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:
124
Metadata:
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