Name
Abstract | ||
|---|---|---|
This article describes real-time gaze control using position-based visual servoing. The main control objective of the system
is to enable a gaze point to track the target so that the image feature of the target is located at each image center. The
overall system consists of two parts: the vision process and the control system. The vision system extracts a predefined color
feature from images. An adaptive look-up table method is proposed in order to get the 3-D position of the feature within the
video frame rate under varying illumination. An uncalibrated camera raises the problem of the reconstructed 3-D positions
not being correct. To solve the calibration problem in the position-based approach, we constructed an end-point closed-loop
system using an active head-eye system. In the proposed control system, the reconstructed position error is used with a Jacobian
matrix of the kinematic relation. The system stability is locally guaranteed, like image-based visual servoing, and the gaze
position was shown to converge to the feature position. The proposed approach was successfully applied to a tracking task
with a moving target in some simulations and some real experiments. The processing speed satisfies the property of real time. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1007/BF02481263 | Artificial Life and Robotics |
Keywords | DocType | Volume |
image features,satisfiability,control system,vision system,visual servoing,look up table,real time,jacobian matrix | Journal | 6 |
Issue | ISSN | Citations |
4 | 1614-7456 | 3 |
PageRank | References | Authors |
0.50 | 4 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Do-Yoon Kim | 1 | 21 | 6.28 |
| Jung Rae Ryoo | 2 | 13 | 4.94 |
| Hyun-keun Park | 3 | 3 | 0.50 |
| Myung Jin Chung | 4 | 655 | 115.43 |