Title :
An adaptive robotic tracking system using optical flow
Author :
Luo, Ren C. ; Mullen, Robert E., Jr. ; Wessell, Daniel E.
Author_Institution :
Dept. of Electr. & Comput. Eng., North Carolina State Univ., Raleigh, NC, USA
Abstract :
A robotic system that can visually track and intercept an arbitrary object which is traveling at an unknown velocity on a conveyor has been presented. A fiber-optic eye-in-hand vision system developed at NCSU is used as an integral part of the entire tracking system. The eye-in-hand system is used to characterize the object trajectory in real time, using a modified optical flow approach. A control strategy has been developed which utilizes the kinematic data that are extracted by the tracking algorithm to intercept the moving object. An overall system configuration and its basic principles are described. The demonstration of the initial results is presented
Keywords :
adaptive control; computer vision; kinematics; robots; adaptive robotic tracking system; computer vision; fiber-optic eye-in-hand vision system; kinematic data; optical flow; Adaptive optics; Adaptive systems; Cameras; Image motion analysis; Intelligent robots; Intelligent systems; Machine vision; Optical sensors; Robot sensing systems; Robot vision systems;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12112
