Visual servoing of a miniature robot toward a marked target

Author

Rößler, Patrick ; Stoeter, Sacha A. ; Rybski, Paul E. ; Gini, Maria ; Papailikolopoulos, N.

Author_Institution

Dept. of Comput. Sci. & Eng., Minnesota Univ., Minneapolis, MN, USA

Volume

2

fYear

2002

fDate

2002

Firstpage

1015

Abstract

The paper describes a system that servos a miniature robot toward a marked target based on visual information from the robot´s own camera. This task is divided into two subtasks: recognition of the target and driving toward it. The system deals with the problems introduced by noisy camera images and unstructured, non-static backgrounds. A description of the control software is given and experimental results are discussed.

Keywords

cameras; fuzzy control; image recognition; mobile robots; robot vision; servomotors; video cameras; video signal processing; binary template matching; circle detection; control software; fuzzy control mechanism; marked target; miniature robot; noisy camera images; nonstatic background; robot camera; target recognition; unstructured background; video frames; visual information; visual servoing; Cameras; Communication system control; Computer science; Control systems; Decision support systems; Mobile robots; Robot vision systems; Target recognition; Visual servoing; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Digital Signal Processing, 2002. DSP 2002. 2002 14th International Conference on

Print_ISBN

0-7803-7503-3

Type

conf

DOI

10.1109/ICDSP.2002.1028262

Filename

1028262