Implementation and Validation of Bioplausible Visual Servoing Control

Abstract

In this report, we compare the performance of the Lucas-Kanade algorithm with feature tracking with the bioplausible optical flow algorithm to achieve pose stabilization in the context of one-dimensional (1-D) attitude stabilization. These results have been benchmarked against an ideal controller in both simulation and robotic experimentation. Within both environments, the accuracy, stability, and settling time were evaluated as a function of contrast and system noise. Both algorithms achieved reasonable performance when compared to the ideal controller, but in most cases the Lucas-Kanade algorithm outperformed the bioplausible algorithm. Within the evaluated serial implementation, the Lucas-Kanade algorithm was also faster. It is anticipated that both performance and processing speed will improve for the bioplausible algorithm when it is implemented in a parallel instantiation.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2013
Accession Number
ADA583475

Entities

People

  • Alec Koppel
  • Alma Wickenden
  • Joe Conroy
  • Richard M. Murray
  • Shuo Han
  • Vishnu Ganesan
  • William Nothwang

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Aircrafts
  • Algorithms
  • Closed Loop Systems
  • Contrast
  • Control Systems
  • Detectors
  • Environment
  • Measurement
  • Metal Oxide Semiconductors
  • Micro Air Vehicles
  • Signal Processing
  • Simulations
  • Steady State
  • Three Dimensional
  • Two Dimensional
  • Visual Servoing

Fields of Study

  • Computer science

Readers

  • Parallel and Distributed Computing.
  • Robotics and Automation.
  • Rocket Propulsion.

Technology Areas

  • AI & ML
  • Autonomy
  • Autonomy - Autonomous System Control