Visual servo system design based on embedded Linux

This thesis concerns the establishment of a visual servo system based on embedded Linux mainly used for recognition and tracking of the moving objects in a relatively simple background of the house. At first, the thesis studied the successful transplant of the open source visual library Open CV to the embedded Linux and the build of the hardware/software platform and cross-compiling environment. The image of the moving object is processed via Open CV. The shape recognition of the moving object is achieved according to the feature information of provincial characteristics of image-moment invariants. The spatial value of manipulator end is calculated by the estimate of the offset of the moving project´s profile and then the angles of the mechanical arms´ joints are adjusted accordingly. These conditions would be approximated gradually to achieve the tracking of the moving object.