The application of image based visual servo control system for smart guard

Based on SmartGuard, a mobile robot for substation inspection, we propose an image based visual servo control system to precisely make the cameras with the pan & tilt to capture the substation equipment we expected to inspect. The vision control system contents of an image acquisition system, a pan & tilt and an embedded servo control system. The proposed approach firstly uses SURF local feature to take the offset of the new acquired image and the template image, which is invariant to light, scale and rotation. Without the calibration of the pan & tilt and the vision system, we calculate the Jacobian matrix based on the test movement. Then we take the servo until the image feature reach to the object image. Using this image based vision system, SmartGuard can avoid the effect of the motion error and the repeating errors of pan & tilt system, and take the precisely image of the power equipments for automatic optical inspection system.