Feature based robotic visual tracking of 3-D translational motion

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

10 Scopus citations

Abstract

The authors address the problem of robotic visual tracking of a target that moves in 3-D with translational motion. The camera is mounted on the end-effector of the robotic manipulator. Use is made of simple SISO (single-input single-output) adaptive controllers in conjunction with a Cartesian robotic controller for successful tracking. The scheme does not need explicit computation of the target's relative depth with respect to the camera frame. In addition, the relative motion of the target with respect to the camera is measured by using a cross-correlation technique called sum-of-squared differences optical flow. Experimental and simulation results are presented to show the efficacy of the proposed approach.

Original languageEnglish (US)
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages1877-1882
Number of pages6
Volume2
ISBN (Print)0780304500
StatePublished - Dec 1 1991
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: Dec 11 1991Dec 13 1991

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period12/11/9112/13/91

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  • Cite this

    Papanikolopoulos, N. P., & Khosla, P. K. (1991). Feature based robotic visual tracking of 3-D translational motion. In Proceedings of the IEEE Conference on Decision and Control (Vol. 2, pp. 1877-1882). Publ by IEEE.