A study on camera tracking system using a self tuning regulator in visual feedback control

In this paper, the authors describe the development and experimentation of camera tracking system using a self tuning regulator (STR) in a visual feedback scheme. They develop this system with a personal computer (PC). The problems of this system are uncertainty of camera parameters, nonlinearity of mechanical assembly and also time-varying transformation of perspective projection. To overcome the problems, STR is applied to this system so as to enhance the robustness to those. From the experimental results, it is confirmed that the problems are compensated by adaptive law. Also, some experiments of real-time tracking during sufficient fast sampling time (0.13 s sampling rate) are shown.