Title :
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
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;
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
DOI :
10.1109/IROS.2006.281999
