Title :
Design and control of a camera platform for machine vision
Author :
Schiehlen, J. ; Dickmanns, E.D.
Author_Institution :
Fakultat fur Luft- & Raumfahrttech., Univ. der Bundeswehr Munchen, Neubiberg, Germany
Abstract :
In machine vision applications controllable vision sensors improve essentially the performance of the system. The design and realization of a camera platform is presented in this paper. Two modes of operation are important, fast gaze shifts to bring regions of interest into the field of view and smooth pursuit of a moving target. In addition, image stabilisation is needed for application of the camera platform in a vehicle. Using visual feedback in the control loop requires careful consideration of all effects like time and speed restrictions for real time control, image processing delays, interfacing the controller to image processing, smoothing the camera motion and rejection of disturbances. These control aspects are addressed in this paper
Keywords :
active vision; cameras; computer vision; image sensors; motion control; camera motion; camera platform; controllable vision sensors; disturbances rejection; fast gaze shifts; image processing delays; image stabilisation; machine vision; moving target; real time control; smooth pursuit; visual feedback; Cameras; Control systems; Delay effects; Feedback loop; Image processing; Machine vision; Motion control; Process control; Sensor systems and applications; Vehicles;
Conference_Titel :
Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on
Conference_Location :
Munich
Print_ISBN :
0-7803-1933-8
DOI :
10.1109/IROS.1994.407581
