TY - GEN

T1 - Vision and control techniques for robotic visual tracking

AU - Papanikolopoulos, N.

AU - Khosla, P. K.

AU - Kanade, T.

PY - 1991/1/1

Y1 - 1991/1/1

N2 - Algorithms for robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities in a 2-D space are presented. The problem of visual tracking is formulated as a problem of combining control with computer vision. A mathematical formulation that is general enough to be extended to the problem of tracking 3-D objects in 3-D space is presented. The authors propose the use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements each instant of time. These displacements can be fed either directly to a PI controller, a pole assignment controller, or a discrete steady-state Kalman filter. In the latter case, the Kalman filter calculates the estimated values of the system's states and exogenous disturbances, and a discrete LQG controller computes the desired motion of the robotic system. The outputs of the controllers are sent to a Cartesian robotic controller that drives the robot.

AB - Algorithms for robotic real-time visual tracking of arbitrary 3-D objects traveling at unknown velocities in a 2-D space are presented. The problem of visual tracking is formulated as a problem of combining control with computer vision. A mathematical formulation that is general enough to be extended to the problem of tracking 3-D objects in 3-D space is presented. The authors propose the use of sum-of-squared differences (SSD) optical flow for the computation of the vector of discrete displacements each instant of time. These displacements can be fed either directly to a PI controller, a pole assignment controller, or a discrete steady-state Kalman filter. In the latter case, the Kalman filter calculates the estimated values of the system's states and exogenous disturbances, and a discrete LQG controller computes the desired motion of the robotic system. The outputs of the controllers are sent to a Cartesian robotic controller that drives the robot.

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M3 - Conference contribution

AN - SCOPUS:0025901472

SN - 081862163X

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 857

EP - 864

BT - Proceedings - IEEE International Conference on Robotics and Automation

PB - Publ by IEEE

T2 - Proceedings of the 1991 IEEE International Conference on Robotics and Automation

Y2 - 9 April 1991 through 11 April 1991

ER -