Adaptive robotic visual tracking

N. Papanikolopoulos; P. K. Khosla; T. Kanade

doi:10.23919/acc.1991.4791520

Adaptive robotic visual tracking

N. Papanikolopoulos, P. K. Khosla, T. Kanade

Computer Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

34 Scopus citations

Abstract

Issues associated with the use of a visual sensor in the feedback loop are addressed. In particular, algorithms are proposed for the solution of the robotic (hand-eye configuration) visual tracking and servoeing problem. The problem of robotic visual tracking is stated as a problem of combining control with computer vision. The use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements is proposed. These displacements are fed to an adaptive controller (self-tuning regulator) that drives the robot in conjunction with a Cartesian robotic controller. Three different adaptive control schemes have been implemented, and the results are presented.

Original language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	962-967
Number of pages	6
ISBN (Print)	0879425652, 9780879425654
DOIs	https://doi.org/10.23919/acc.1991.4791520
State	Published - 1991
Event	Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991

Publication series

Name	Proceedings of the American Control Conference
Volume	1
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1991 American Control Conference
City	Boston, MA, USA
Period	6/26/91 → 6/28/91

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10.23919/acc.1991.4791520

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title = "Adaptive robotic visual tracking",

abstract = "Issues associated with the use of a visual sensor in the feedback loop are addressed. In particular, algorithms are proposed for the solution of the robotic (hand-eye configuration) visual tracking and servoeing problem. The problem of robotic visual tracking is stated as a problem of combining control with computer vision. The use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements is proposed. These displacements are fed to an adaptive controller (self-tuning regulator) that drives the robot in conjunction with a Cartesian robotic controller. Three different adaptive control schemes have been implemented, and the results are presented.",

author = "N. Papanikolopoulos and Khosla, {P. K.} and T. Kanade",

year = "1991",

doi = "10.23919/acc.1991.4791520",

language = "English (US)",

isbn = "0879425652",

series = "Proceedings of the American Control Conference",

publisher = "Publ by American Automatic Control Council",

pages = "962--967",

booktitle = "Proceedings of the American Control Conference",

note = "Proceedings of the 1991 American Control Conference ; Conference date: 26-06-1991 Through 28-06-1991",

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AU - Papanikolopoulos, N.

AU - Khosla, P. K.

AU - Kanade, T.

PY - 1991

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N2 - Issues associated with the use of a visual sensor in the feedback loop are addressed. In particular, algorithms are proposed for the solution of the robotic (hand-eye configuration) visual tracking and servoeing problem. The problem of robotic visual tracking is stated as a problem of combining control with computer vision. The use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements is proposed. These displacements are fed to an adaptive controller (self-tuning regulator) that drives the robot in conjunction with a Cartesian robotic controller. Three different adaptive control schemes have been implemented, and the results are presented.

AB - Issues associated with the use of a visual sensor in the feedback loop are addressed. In particular, algorithms are proposed for the solution of the robotic (hand-eye configuration) visual tracking and servoeing problem. The problem of robotic visual tracking is stated as a problem of combining control with computer vision. The use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements is proposed. These displacements are fed to an adaptive controller (self-tuning regulator) that drives the robot in conjunction with a Cartesian robotic controller. Three different adaptive control schemes have been implemented, and the results are presented.

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DO - 10.23919/acc.1991.4791520

M3 - Conference contribution

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SN - 9780879425654

T3 - Proceedings of the American Control Conference

SP - 962

EP - 967

BT - Proceedings of the American Control Conference

PB - Publ by American Automatic Control Council

T2 - Proceedings of the 1991 American Control Conference

Y2 - 26 June 1991 through 28 June 1991

ER -

Adaptive robotic visual tracking

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