Title :
The Minnesota robotic visual tracker: a flexible testbed for vision-guided robotic research
Author :
Brandt, Scott A. ; Smith, Christopher E. ; Papanikolopoulos, Nikolaos P.
Author_Institution :
Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA
Abstract :
Most early research in robotic visual tracking, especially prior to 1990, separated the vision processing and robot control aspects of the system. Attempts to solve the problem close the control loop by incorporating the output of the vision processing as an input to the control subsystem. The controlled active vision framework describes one such approach wherein dynamic target, camera, and environmental factors are incorporated via adaptive controllers that utilize the sum-of-squared differences (SSD) optical flow measurements as an input to the control loop. This paper describes work at the University of Minnesota´s Artificial Intelligence, Robotics, and Vision Laboratory in developing the Minnesota Robotic Visual Tracker (MRVT), a controlled active vision robotic testbed. In addition, enhancements to the basic SSD algorithm are presented that produce order-of-magnitude improvements over previously reported results
Keywords :
active vision; adaptive control; image sequences; robot vision; Minnesota Robotic Visual Tracker; active vision; adaptive controllers; flexible testbed; sum-of-squared-differences optical flow measurements; vision-guided robot; Adaptive control; Adaptive optics; Cameras; Environmental factors; Intelligent robots; Optical control; Programmable control; Robot control; Robot vision systems; Testing;
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400035