Video-Rate Visual Servoing for Robots

Abstract

This paper presents some preliminary experimental results in robotic visual servoing, utilizing a newly available hardware region-growing and moment- generation unit. A Unix-based workstation in conjunction with special purpose video processing hardware has been used to visually close the robot position loop at video field rate, 60 Hz. The architecture and capabilities of the system are discussed. Performance of the closed-loop position control is investigated analytically and via step response tests, and experimental results are presented. Initial results are for 2 dimensional servoing, but extensions to 3 dimensional positioning are covered along with methods for monocular distance determination.

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1989
Accession Number
ADA218711

Entities

People

  • Peter I. Corke
  • Richard P. Paul

Organizations

  • Moore School of Electrical Engineering

Tags

Communities of Interest

  • Autonomy
  • Materials and Manufacturing Processes
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Cameras
  • Classification
  • Closed Loop Systems
  • Computational Complexity
  • Computer Vision
  • Computers
  • Control Systems
  • Image Processing
  • Image Segmentation
  • Information Science
  • Operating Systems
  • Robots
  • Software Development
  • Software Prototyping
  • Transfer Functions
  • Visual Servoing

Readers

  • Computer Vision.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control