Title :
Biomimetic control of pan-tilt-zoom camera for visual tracking based-on an autonomous helicopter
Author :
Xie, Shaorong ; Luo, Jun ; Gong, Zhenbang ; Ding, Wei ; Zou, Hairong ; Fu, Xiangguo
Author_Institution :
Shanghai Univ., Shanghai
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
A novel control strategy of pan-tilt-zoom camera is described. Because the active camera is mounted on a moving autonomous helicopter in visual tracking system, and the tracked object is moving at same time, and there exists the vibration influence of the helicopter, image stabilization becomes poor, and all pixels are running. Therefore, a biomimetic control strategy of on-board pan-tilt-zoom camera is presented. In this paper, the biomimetic oculomotor control model is obtained based on physiological neural path of eye movement control. In order to validate the functions of the biomimetic control model, simulation experiments were done under the same condition as the physiological experiments in physiological researches. Then the biomimetic controller of onboard pan-tilt-zoom camera is developed. The results of flight tracking experiments show that the biomimetic controller can compensate the deflection caused by the flight platform, and enhance the visual tracking system performance.
Keywords :
aerospace robotics; aircraft control; cameras; helicopters; mobile robots; motion compensation; motion control; robot vision; tracking; active camera; autonomous helicopter; biomimetic oculomotor control model; deflection compensation; eye movement control; flight tracking experiments; image stabilization; object tracking; pan-tilt-zoom camera; physiological neural path; simulation experiments; vibration; visual tracking; Automatic control; Biomimetics; Control systems; Helicopters; Humans; Intelligent robots; Robot vision systems; Robotics and automation; Smart cameras; Target tracking; autonomous helicopter; biomimetic control; pan-tilt-zoom camera; visual tracking;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399295