Real-time visual servoing
Peter K. Allen,B.H. Yoshimi,A. Timcenko +2 more
- 09 Apr 1991
- pp 851-856
TL;DR: 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.
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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 alpha - beta - gamma 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. >
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Citations
Relative end-effector control using Cartesian position based visual servoing
W.J. Wilson,C.C. Williams Hulls,G.S. Bell +2 more
- 01 Oct 1996
TL;DR: This paper presents a complete design methodology for Cartesian position based visual servo control for robots with a single camera mounted at the end-effector and the implementation using a distributed computer architecture is described.
683
Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision
Nikolaos Papanikolopoulos,Pradeep K. Khosla,Takeo Kanade +2 more
- 01 Feb 1993
TL;DR: The authors present algorithms for robotic (eye-in-hand configuration) real-time visual tracking of arbitrary 3D objects traveling at unknown velocities in a 2D space (depth is given as known).
630
Automated tracking and grasping of a moving object with a robotic hand-eye system
Peter K. Allen,A. Timcenko,B.H. Yoshimi,P. Michelman +3 more
- 01 Apr 1993
TL;DR: An attempt to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object is described.
Motion tracking with an active camera
D. Murray,Anup Basu +1 more
TL;DR: The system successfully extracts moving edges from dynamic images even when the pan/tilt angles between successive frames are as large as 3.5m, and the use of morphological filtering of motion images is explored to desensitize the detection algorithm to inaccuracies in background compensation.
416
Dynamic effects in visual closed-loop systems
Peter Corke,Malcolm Good +1 more
- 01 Oct 1996
TL;DR: The concept of visual dynamic control is introduced, which is concerned with dynamic effects due to the manipulator and machine vision sensor which limit the performance, and combined with axis velocity control, is shown to result in robust and high performance tracking.
254
References
Determining optical flow
TL;DR: In this paper, a method for finding the optical flow pattern is presented which assumes that the apparent velocity of the brightness pattern varies smoothly almost everywhere in the image, and an iterative implementation is shown which successfully computes the Optical Flow for a number of synthetic image sequences.
12.4K
•Book
Determining optical flow
Berthold K. P. Horn,Brian G. Schunck +1 more
- 03 Jan 1992
TL;DR: An iterative implementation is shown which successfully computes the optical flow for a number of synthetic image sequences and is robust in that it can handle image sequences that are quantified rather coarsely in space and time.
Spatiotemporal energy models for the perception of motion
TL;DR: In this article, the first stage consists of linear filters that are oriented in space-time and tuned in spatial frequency, and the outputs of quadrature pairs of such filters are squared and summed to give a measure of motion energy.
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