Title :
Real-time visual servoing
Author :
Allen, Peter K. ; Yoshimi, Billibon ; Timcenko, Aleksandar
Author_Institution :
Dept. of Comput. Sci., Columbia Univ., New York, NY, USA
Abstract :
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
Keywords :
computer vision; filtering and prediction theory; kinematics; parallel algorithms; position control; predictive control; robots; tracking; α-β-γ filter; model train; moving object; pipeline-parallel optic-flow algorithm; predictive filter; predictive kinematic control; real-time tracking algorithm; real-time visual servoing; robotic arm; Cameras; Kinematics; Optical computing; Optical filters; Prediction algorithms; Real time systems; Robot vision systems; Robustness; Trajectory; Visual servoing;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131694