Real-time visual servoing

Author

Allen, Peter K. ; Yoshimi, Billibon ; Timcenko, Aleksandar

Author_Institution

Dept. of Comput. Sci., Columbia Univ., New York, NY, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

851

Abstract

A real-time tracking algorithm in conjunction with a predictive filter to allow real-time visual servoing of a robotic arm that is tracking a moving object is described. The system consists of two calibrated (but unregistered) cameras that provide images to a real-time, pipeline-parallel optic-flow algorithm that can robustly compute optic-flow and calculate the 3-D position of a moving object at approximately 5-Hz rates. These 3-D positions of the moving object serve as input to a predictive kinematic control algorithm that uses an α-β-γ filter to update the position of a robotic arm tracking the moving object. Experimental results are presented for the tracking of a moving model train in a variety of different trajectories

Keywords

computer vision; filtering and prediction theory; kinematics; parallel algorithms; position control; predictive control; robots; tracking; α-β-γ filter; model train; moving object; pipeline-parallel optic-flow algorithm; predictive filter; predictive kinematic control; real-time tracking algorithm; real-time visual servoing; robotic arm; Cameras; Kinematics; Optical computing; Optical filters; Prediction algorithms; Real time systems; Robot vision systems; Robustness; Trajectory; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131694

Filename

131694