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Visual tracking of a moving target by a camera mounted on a robot: a combination of control and vision

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3 Author(s)
Papanikolopoulos, N.P. ; Dept. of Comput. Sci., Minnesota Univ., Minneapolis, MN, USA ; Khosla, P.K. ; Kanade, T.

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). Visual tracking is formulated as a problem of combining control with computer vision. A mathematical formulation of the control problem that includes information from a novel feedback vision sensor and represents everything with respect to the camera frame is presented. The sum-of-squared differences (SSD) optical flow is used to compute the vector of discrete displacements each instant of time. These displacements can be fed either directly to a PI (proportional-integral) controller or to a pole assignment controller or discrete steady-state Kalman filter. In the latter case, the Kalman filter calculates the estimated values of the system's states and the exogenous disturbances, and a discrete LQG (linear-quadratic Gaussian) controller computes the desired motion of the robotic system. The outputs of the controllers are sent to the Cartesian robotic controller. Performance results are presented

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:9 ,  Issue: 1 )

Date of Publication:

Feb 1993

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