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Carnegie Mellon Robotics Institute

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Abstract

This paper addresse the problem of robotic visual backing of a target that moves in 3-D with translational motion. The camera is mounted on the endeffector of the robotic manipulator. We use simple SISO adaptive controllers in conjunction with a cartesian robotic controller for successful tracking. Our scheme does not need explicit computation of the target's relative depth with respect to the camera frame. In addition, the relative motion of the target with respect to the camera is measured by using a cross-correlation technique called Sum-of-Squared Differences (SSD) optical flow. Experimental and simulation results are presented to show the efficacy of the proposed approach.

Notes

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

Text Reference

N.P. Papanikolopoulos and Pradeep Khosla, "Feature Based Robotic Visual Tracking of 3-D Translational Motion," Presented at the 30th Annual IEEE Conference on Deicision and Control (CDC '91), December, 1991.

BibTeX Reference

@inproceedings{Khosla_1991_4212,
   author = "N.P. Papanikolopoulos and Pradeep Khosla",
   title = "Feature Based Robotic Visual Tracking of 3-D Translational Motion",
   booktitle = "Presented at the 30th Annual IEEE Conference on Deicision and Control (CDC '91)",
   month = "December",
   year = "1991",
}

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