Paper Info
Title
The application of image based visual servo control system for smart guard
Abstract
Based on SmartGuard, a mobile robot for substation inspection, we propose an image based visual servo control system to precisely make the cameras with the pan & tilt to capture the substation equipment we expected to inspect. The vision control system contents of an image acquisition system, a pan & tilt and an embedded servo control system. The proposed approach firstly uses SURF local feature to take the offset of the new acquired image and the template image, which is invariant to light, scale and rotation. Without the calibration of the pan & tilt and the vision system, we calculate the Jacobian matrix based on the test movement. Then we take the servo until the image feature reach to the object image. Using this image based vision system, SmartGuard can avoid the effect of the motion error and the repeating errors of pan & tilt system, and take the precisely image of the power equipments for automatic optical inspection system.
Year
DOI
Venue
2013
10.1109/ICCA.2013.6564898
ICCA
Keywords
Field
DocType
power equipments,image acquisition system,embedded servo control system,image based visual servo control system,servomechanisms,inspection,smartguard,substation automation,test movement,mobile robots,automatic optical inspection system,substation equipment,image sensors,feature extraction,substation inspection,surf local feature,cameras,template image,acquired image,jacobian matrix,mobile robot,embedded systems,jacobian matrices,robot vision,visualization,servomotors
Computer vision,Image sensor,Machine vision,Servo,Control engineering,Feature extraction,Artificial intelligence,Servo control,Engineering,Control system,Mobile robot,Offset (computer science)
Conference
Volume
Issue
ISSN
null
null
1948-3449
ISBN
Citations 
PageRank 
978-1-4673-4707-5
0
0.34
References 
Authors
4
6
Name
Order
Citations
PageRank
Li Li124364.97
Binhai Wang242.55
Beidou Li300.34
Peng Xiao465.84
Wanguo Wang500.68
Yibin Li600.68