3D object tracking on active stereo vision robot
7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623) - Trang 567-572
Tóm tắt
The paper describes a control method for visual tracking on the active stereo vision robot. The robot in unique structure has three joints; one is for base rotation and the others for each camera rotation, i.e. neck and eyes. As the system has a redundancy in the meaning of degrees-of-freedom, the novel control approach is introduced and the high performance of the tracking is achieved. The control law is based on both of the image-base control and mechanical impedance control, referring the motion of the target object, and the time delay by image processing is compensated with the prediction by Kalman filter. Consequently, the smooth motion of the robot and the precise position estimation of the moving object in three-dimensional workspace is realized in real time. The validity of the proposed method is confirmed in the physical experimental results.
Từ khóa
#Stereo vision #Robot vision systems #Motion control #Cameras #Neck #Eyes #Control systems #Target tracking #Impedance #Delay effectsTài liệu tham khảo
10.1109/IROS.1998.727312
10.1109/ROBOT.2000.846335
10.1109/3516.491410
10.1109/ROBOT.1998.677403
10.1109/70.538980
10.1109/70.538975
10.1109/ROBOT.1996.506950
kuniyoshi, 1997, Deferred imitation of human head movements by an active stereo vision head, IEEE Proc 6th Int Work Rob Human Comm (ROMAN97), 88
lange, 1998, Predictive Vision Based Control of High Speed Industrial Robot Pahts, IEEE Proc Int Conf Robo Auto (ICRA98), 2646
10.1109/34.476513