DocumentCode :
2614271
Title :
A real-time vision-based 3D motion estimation system for positioning and trajectory following
Author :
Negahdaripour, S. ; Jin, L. ; Xu, X. ; Tsukamoto, C. ; Yuh, J.
Author_Institution :
Dept. of Electr. & Comput. Eng., Miami Univ., Coral Gables, FL, USA
fYear :
1996
fDate :
2-4 Dec 1996
Firstpage :
264
Lastpage :
269
Abstract :
The authors present a real-time vision-based system for automatic positioning and trajectory following, based on a direct method for 3D motion estimation. The spatio-temporal derivatives of the image function, calculated from time-varying imagery, are used to directly calculate the motion and position of the camera. For demonstration, they have implemented the system on a one-degree-of freedom thruster operating in a laboratory water tank. The estimated position information is communicated to the control system, a PID controller, in order to generate the appropriate signal to correct the thruster system´s position. The performance of the vision system is demonstrated in selected experiments by comparing results with the data from an optical encoder position sensor
Keywords :
computer vision; image sensors; motion estimation; optical sensors; position control; real-time systems; three-term control; tracking; PID controller; automatic positioning; camera motion; camera position; control system; estimated position information; image function; laboratory water tank; one-degree-of freedom thruster; optical encoder position sensor; real-time vision-based 3D motion estimation system; signal generation; spatio-temporal derivatives; thruster system position correction; time-varying imagery; trajectory following; vision system performance; Cameras; Control systems; Laboratories; Machine vision; Motion estimation; Optical sensors; Real time systems; Sensor systems; Signal generators; Three-term control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Applications of Computer Vision, 1996. WACV '96., Proceedings 3rd IEEE Workshop on
Conference_Location :
Sarasota, FL
Print_ISBN :
0-8186-7620-5
Type :
conf
DOI :
10.1109/ACV.1996.572067
Filename :
572067
Link To Document :
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