Np. Papanikolopoulos et al., 6-DEGREE-OF-FREEDOM HAND EYE VISUAL TRACKING WITH UNCERTAIN PARAMETERS, IEEE transactions on robotics and automation, 11(5), 1995, pp. 725-732
Algorithms for full 3-D robotic visual tracking of moving targets whos
e motion is 3-D and consists of translational and rotational component
s are presented. The objective of the system is to track selected feat
ures on moving objects and to place their projections on the image pla
ne at desired positions by appropriate camera motion. The most importa
nt characteristics of the proposed algorithms are the use of a single
camera mounted on the end-effector of a robotic manipulator (eye-in-ha
nd configuration), and the fact that these algorithms do not require a
ccurate knowledge of the relative distance of the target object from t
he camera frame. The detection of motion is based on a cross-correlati
on technique known as Sum-of-Squares Differences (SSD) algorithm. The
camera model used introduces a number of parameters that are estimated
on-line, further reducing the algorithms' reliance on precise calibra
tion of the system. An adaptive control algorithm compensates for mode
ling errors, tracking errors, and unavoidable computations delays whic
h result from time-consuming image processing. Experimental results ar
e presented to verify the efficacy of the proposed algorithms and to h
ighlight the limitations of the approach. These experiments were perfo
rmed using a multirobotic system consisting of Puma 560 manipulators.