Visual Feedback Tracking of Crane Hook

Author

Nara, Shunsuke ; Miyamoto, Daisuke ; Takahashi, Satoru ; Kaneko, Shun Ichi

Author_Institution

Dept. of Intelligent Mech. Syst. Eng., Kagawa Univ., Takamatsu

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2736

Lastpage

2742

Abstract

In this paper, we develop an observation device to measure a 3D position for a moving object by using a laser range finder and a CCD camera. Then, we propose new method for the object recognition and the tracking control, respectively. As for the recognition, we use a special mark which is called the cross mark. For the tracking control, we construct PID control with an extended Kalman filter to realize control system without delay. Through some experiments, we verify performance of observation device and show availability of our proposed method

Keywords

CCD image sensors; Kalman filters; cranes; feedback; laser ranging; nonlinear filters; object recognition; position control; three-term control; 3D position measurement; CCD camera; PID control; crane hook; extended Kalman filter; laser range finder; object recognition; tracking control; visual feedback tracking; Availability; Charge coupled devices; Charge-coupled image sensors; Control systems; Cranes; Delay systems; Laser feedback; Object recognition; Position measurement; Three-term control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.281999

Filename

4058805