Visual tracking control to fast moving target for stereo vision robot

Abstract

The paper describes a way of visual tracking control for stereo vision robot in case that the target moves around fast. Both the target and the active camera move simultaneously during the tracking in this paper. There would be several causes of generating the tracking errors; the velocity and acceleration of the target, the computing time and accuracy of the image processing, the motion delay of the robot, and so on. The paper focuses to the affects of the high velocity and the varying acceleration of the moving target, and then two kinds of physical experiments have been examined; one is in the case of visual tracking for high speed target with constant acceleration, the other is in the case for middle speed rotating target with varying acceleration. In both experiments, good performance of the visual tracking control has been achieved with the stereo vision robot.