The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

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 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.

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference

N. Papanikolopoulos, Pradeep Khosla, and Takeo Kanade, "Vision and Control Techniques for Robotic Visual Tracking," Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91), April, 1991, pp. 857-864.

BibTeX Reference

@inproceedings{Khosla_1991_2443,
   author = "N. Papanikolopoulos and Pradeep Khosla and Takeo Kanade",
   title = "Vision and Control Techniques for Robotic Visual Tracking",
   booktitle = "Proceedings of the 1991 IEEE International Conference on Robotics and Automation (ICRA '91)",
   pages = "857-864",
   month = "April",
   year = "1991",
   volume = "1",
}

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