Real-time visual servoing

Allen, Peter K.; Yoshimi, Billibon; Timcenko, Aleksandar

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.



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Proceedings : 1991 IEEE International Conference on Robotics and Automation, April 9-11, 1991, Sacramento, California

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Computer Science
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November 12, 2012