Name
Abstract | ||
|---|---|---|
Algorithms for full 3D robotic visual tracking of moving targets whose motion is 3D and consists of translational and rotational components are presented. The objective of the system is to track selected features on moving objects and to place their projec- tions on the image plane at desired positions by appropriate camera motion. The most important characteristics of the proposed algorithms are the use of a single camera mounted on the end-effector of a robotic manipulator (eye-in-hand configuration), and the fact that these algorithms do not require accurate knowledge of the relative dis- tance of the target object from the camera frame. The detection of motion is based on a cross-correlation 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 calibration of the system. An adaptive control algorithm compensates for modeling errors, tracking errors, and unavoidable computational delays which result from time-consuming image process- ing. Experimental results are presented to verify the efficacy of the proposed algo- rithms and to highlight the limitations of the approach. These experiments were performed using a multi-robotic system consisting of Puma 560 manipulators. |
Year | DOI | Venue |
|---|---|---|
1994 | 10.1109/ROBOT.1994.350992 | IEEE T. Robotics and Automation |
Keywords | Field | DocType |
adaptive control,intelligent control,position measurement,robot vision,tracking,3d robotic visual tracking,puma 560 manipulators,adaptive control algorithm,camera motion,computational delays,image plane,image processing,modeling errors,moving targets,multi-robotic system,six degree-of-freedom hand/eye visual tracking,uncertain parameters,error correction,visual servoing,parameter estimation,calibration,model error,motion estimation,cross correlation,degree of freedom,visual tracking | Computer science,Control theory,Camera auto-calibration,Image processing,Control engineering,Eye tracking,Artificial intelligence,Motion estimation,Robotics,Intelligent control,Computer vision,Image plane,Adaptive control | Conference |
Volume | Issue | ISBN |
11 | 5 | 0-8186-5330-2 |
Citations | PageRank | References |
41 | 4.90 | 17 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Papanikolopoulos, N.P. | 1 | 724 | 68.92 |
| Bradley J. Nelson | 2 | 41 | 4.90 |
| Khosla, P.K. | 3 | 931 | 123.84 |