Visual tracking of a moving object of a robot head with 3 DOF

Author

Bie, Haigang ; Huang, Qiang ; Zhang, Weimin ; Song, Bo ; Li, Kejie

Author_Institution

Dept. of Mechatronics Eng., Beijing Inst. of Technol., China

Volume

1

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

686

Abstract

Visual tracking of a moving object is one of the fundamental functions of a robot head. In order to implement this task, it is necessary to process visual images and control the head motion. Firstly, this paper proposes the computer architecture with duplex computers and dual operating systems. One computer with the windows operating system is in charge of image processing, the other computer with the RT-Linux operating system is used to control the motion of the robot head. Then, we discuss the mechanism of the robot head with three degrees of freedom, and derive the image processing algorithm. The developed robot head has the height of 0.17 [m], width of 0.15 [m], depth of 0.12 [m] and the weight of 2.8 kg. Finally, experimental results show the robot head can track a moving object precisely in 3D space.

Keywords

control engineering computing; image processing; motion control; operating systems (computers); robot vision; target tracking; 0.12 m; 0.15 m; 0.17 m; 3 DOF head; 3D space; RT-Linux operating system; computer architecture; dual operating systems; duplex computers; head motion control; image processing; moving object; robot head; visual images; visual tracking; windows operating system; Computer architecture; Head; Humans; Image processing; Motion control; Operating systems; Orbital robotics; Robot kinematics; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285657

Filename

1285657