Np. Papanikolopoulos et Pk. Khosla, ADAPTIVE ROBOTIC VISUAL TRACKING - THEORY AND EXPERIMENTS, IEEE transactions on automatic control, 38(3), 1993, pp. 429-445
Citations number
33
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Applications & Cybernetics","Engineering, Eletrical & Electronic
This paper addresses the use of a vision sensor in the feedback loop w
ithin the Controlled Active Vision framework. Using this framework, al
gorithms are proposed for the solution of the robotic (eye-in-hand con
figuration) visual tracking and servoing problem. We state the problem
of visual tracking as a problem of combining control with computer vi
sion. We use the sum-of-squared differences (SSD) optical flow for the
computation of the vector of discrete displacements. The measurements
can be derived either from a single big window or from multiple small
windows. These displacements are fed to an adaptive controller (self-
tuning regulator) that creates commands for a robot control system. Th
e whole algorithm is based on the on-line estimation of the relative d
istance of the target with respect to the camera. An important contrib
ution of this work is that it requires only partial knowledge of the r
elative distance of the target with respect to the camera. This fact o
bviates the need for off-line calibration of the eye-in-hand robotic s
ystem. We have implemented, both in simulation and in experiments, thr
ee different adaptive control schemes, and the results are presented i
n this paper. The computational complexity and the experimental result
s demonstrate that the proposed algorithms can be implemented in real
time.