DocumentCode :
2672571
Title :
Visual servo system design based on embedded Linux
Author :
Chao, Yan Kai ; Yang, Yong Huan ; Xu, Yu Lin
Author_Institution :
Dept. of Mechatron. Eng. & Autom., Shanghai Univ., Shanghai, China
fYear :
2012
fDate :
23-25 May 2012
Firstpage :
2757
Lastpage :
2761
Abstract :
This thesis concerns the establishment of a visual servo system based on embedded Linux mainly used for recognition and tracking of the moving objects in a relatively simple background of the house. At first, the thesis studied the successful transplant of the open source visual library Open CV to the embedded Linux and the build of the hardware/software platform and cross-compiling environment. The image of the moving object is processed via Open CV. The shape recognition of the moving object is achieved according to the feature information of provincial characteristics of image-moment invariants. The spatial value of manipulator end is calculated by the estimate of the offset of the moving project´s profile and then the angles of the mechanical arms´ joints are adjusted accordingly. These conditions would be approximated gradually to achieve the tracking of the moving object.
Keywords :
Linux; feature extraction; manipulators; object recognition; object tracking; public domain software; robot vision; shape recognition; software libraries; visual servoing; Open CV; cross-compiling environment; embedded Linux; feature information; hardware-software platform; image moment invariants; manipulator end; mechanical arms joints; moving objects recognition; moving objects tracking; moving project profile; open source visual library; shape recognition; visual servo system design; Cameras; Joints; Linux; Robots; Servomotors; Target tracking; Visualization; Open CV; embedded visual servo; moment invariants; object recognition and tracking;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
Type :
conf
DOI :
10.1109/CCDC.2012.6244438
Filename :
6244438
Link To Document :
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