Vision sensor based tracking and focusing of 3-D singular points

In this paper, a laser scanning vision sensor based automatic focusing and positioning servo control mechanism is presented for 3-D singular points. The mechanism consists of two parts: position detecting and tracking/focusing control. In particular, difference-from-moving average (DMA) algorithm is used to process the 3-D data from a circular laser scanning vision sensor for detecting the position of singular points. The processed information is then fed back to the servo motion control and actuating system for accurate tracking and focusing of singular points. The result shows that this mechanism achieves desired tracking speed and accuracy with experimental validation on a 3-D vision tracking platform.