Adaptive robotic visual tracking

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

35 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 languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages962-967
Number of pages6
ISBN (Print)0879425652, 9780879425654
DOIs
StatePublished - 1991
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Publication series

NameProceedings of the American Control Conference
Volume1
ISSN (Print)0743-1619

Conference

ConferenceProceedings of the 1991 American Control Conference
CityBoston, MA, USA
Period6/26/916/28/91

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