Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics

Vision-based control needs fast and robust tracking. The conditions for fast tracking are derived from studying the dynamics of the visual servoing loop. The result indicates how to build the vision system to obtain high dynamic performance of tracking. Maximum tracking velocity is obtained when run...

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Hauptverfasser: Vincze, Markus, Ayromlou, Minu, Chroust, Stefan, Zillich, Michael, Ponweiser, Wolfgang, Legenstein, Dietmar
Format: Buchkapitel
Sprache:eng
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Zusammenfassung:Vision-based control needs fast and robust tracking. The conditions for fast tracking are derived from studying the dynamics of the visual servoing loop. The result indicates how to build the vision system to obtain high dynamic performance of tracking. Maximum tracking velocity is obtained when running image acquisition and processing in parallel and using appropriately sized tracking windows. To achieve the second criteria, robust tracking, a model-based tracking approach is enhanced with a method of Edge Projected Integration of Cues (EPIC). EPIC uses object knowledge to select the correct feature in real-time. The object pose is calculated from the features at every tracking cycle. The components of the tracking system have been implemented in a framework called Vision for Robotics (V4R). V4R has been used within the EU-funded project RobVision to navigate a robot into a ship section using the model data from the CAD-design. The experiments show the performance of tracking in different parts of the ship mock-up.
ISSN:0302-9743
1611-3349
DOI:10.1007/3-540-45993-6_7