Non-delayed visual tracking of a moving object with target speed compensation

Shibata, Masaaki; Kobayashi, Nobuaki

doi:10.1109/icmech.2007.4280036

Cited by 9 publications

(5 citation statements)

References 12 publications

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“…In [7], [8], [10], using the triangulation or the inversion of the perspective projection, each marker position s p o and its velocity sṗ o are estimated. We cannot exploit such a method here to estimate the feature point motion because the influence of the odometry error is far from small for wheeled mobile robots, as is wellknown.…”

Section: B Estimation Of Feature Point Motion Resulting From Target mentioning

confidence: 99%

“…In our previous work, we have proposed a visual tracking control approach that takes into consideration the target object motion for robots with the eyein-hand configuration, which is basically classified as FBVS. The controlled object in that scheme is a robot with one or two charged-coupled device (CCD) cameras [7]- [10]. However, the moving range of the camera(s) is limited since the robot is fixed in a given environment.…”

Section: Introductionmentioning

confidence: 99%

“…We present on-line trajectory planning based on FBVS. The key idea is to compensate the target object motion, as in [7]- [10]. In particular we focus on visual feature motion without 3D reconstruction in consideration of the odometry error.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Ito

Hiratsuka

Shibata

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

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This paper addresses a visual target following problem for a nonholonomic wheeled mobile robot with a single camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We present on-line trajectory planning based on feature-based visual servoing. The key idea is to compensate the target object motion. In particular we focus on visual feature motion without 3D reconstruction in consideration of the odometry error. Tracking control to the generated trajectory can therefore achieve visual target following precisely even if the target object is moving. The effectiveness of the control system is evaluated experimentally.

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Section: B Estimation Of Feature Point Motion Resulting From Target mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Ito

Hiratsuka

Shibata

2010

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

Self Cite

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“…On the other hand, in the case that the target to be tracked moves around with the velocity V T , the tracking delay will occur with the simple controller in (5). The target velocity V T must be considered in the following basic formulation [4,18,19]…”

Section: Velocity Of Moving Targetmentioning

confidence: 99%

Vision‐based motion control for robotic systems

Oda

Ito

Shibata

2009

IEEJ Transactions Elec Engng

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The paper presents recent advances of vision-based motion control for robotic systems. The visual feedback loop is very effective for increasing the dexterity and flexibility of robot's task. With the development of vision and computer technology, the visual feedback applications are remarkably expanded for various robotic systems. In the paper, at first, a variety of vision-based approaches in Japan are overviewed from the viewpoint of motion control scheme, and fundamental formulations of visual servo controller are described. And two kinds of visual feedback applications are introduced with several experimental evaluations. The first one is non-delayed visual tracking approach using active stereo vision. It is found that the target motion estimation is an important issue for fast tracking. The other is the motion controller for wheelchair-type mobile robots based on optical flow field. The vision-based feedback controller conducts the force-related motion. Then, the vision makes dynamic environmental change transmitted to human operator through force interaction. The validity of these approaches are evaluated by experimental results. 

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“…Accordingly, a steady-state error between the actual and desired visual features on the image plane, which we call the visual tracking error, occurs in the case of a moving target object. In our previous works [10][11][12][13], we have proposed a visual tracking control approach that takes into consideration the target object motion for robots with the eye-in-hand configuration, which is basically classified as IBVS. The controlled object in that scheme is a robot with one or two charged-coupled device (CCD) cameras.…”

Section: Introductionmentioning

confidence: 99%

Image‐based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera

Ito¹,

Hiratsuka²,

Shibata³

2012

IEEJ Transactions Elec Engng

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This paper addresses the problem of visual target following for a nonholonomic wheeled mobile robot with a single fixed camera. For the problem, we propose a control scheme composed of vision-based trajectory planning and tracking control. We present online trajectory planning based on image-based visual servoing. The key idea is to compensate the target object motion.In particular, we focus on visual feature motion resulting from the target object motion. Tracking control to the generated trajectory can therefore achieve visual target following precisely even if the target object is moving. Our proposed scheme can be applied to, e.g. robotic systems for autonomous guard and observation. The effectiveness of the control system is evaluated experimentally.

show abstract

Non-delayed visual tracking of a moving object with target speed compensation

Cited by 9 publications

References 12 publications

Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Feature-based visual target following for a nonholonomic wheeled mobile robot with a single camera

Vision‐based motion control for robotic systems

Image‐based visual target following for a nonholonomic wheeled mobile robot with a single fixed camera

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