Title :
A Multi-Camera View Stabilization Strategy
Author :
Kuhnlenz, Kolja ; Buss, Martin
Author_Institution :
Inst. of Autom. Control Eng., Technische Univ. Munchen, Garching
Abstract :
A novel camera view direction stabilization strategy based on a multi-camera vision system is proposed. Relative motion information of an observed target with respect to the camera system is acquired by at least two cameras: a tracking and a stabilizing camera. The stabilizing camera provides a velocity contribution to the tracking camera motion controlled by visual servoing. Thereby, a significant reduction of the tracking error is achieved. The proposed strategy is evaluated in simulations and experiments based on a novel multi-focal vision system designed for the humanoid LOLA
Keywords :
humanoid robots; image sensors; robot vision; visual servoing; humanoid robot; multi-camera view stabilization strategy; multi-focal vision system; tracking camera motion; visual servoing; Cameras; Humans; Machine vision; Manipulators; Motion control; Robot motion; Robot vision systems; Target tracking; Velocity control; Visual servoing;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282032
