Allen Peter K. author Columbia University. Computer Science Yoshimi Billibon author Columbia University. Computer Science Timcenko Aleksandar author Columbia University. Computer Science Columbia University. Computer Science originator contributor text Technical reports New York Department of Computer Science, Columbia University 1990 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. Computer science CUCS-035-90 http://hdl.handle.net/10022/AC:P:12762 English NNC NNC 2012-03-08 11:00:18 -0500 2012-03-08 11:08:25 -0500 6765 eng