TY - GEN
T1 - Vision and control techniques for robotic visual tracking
AU - Papanikolopoulos, N.
AU - Khosla, P. K.
AU - Kanade, T.
PY - 1991
Y1 - 1991
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 -