Tracking: An Approach to Dynamic Vision and Hand-Eye Coordination

Abstract

Many applications for robots require the ability to work with moving objects. The problems encountered due to different types of motion are considered, and a method for providing a robot with real-time vision processing in dynamic environments is presented. By appropriately isolating the tracking task, it is possible to reduce the tracking problem to basic two dimensional pattern verification. Numerous features (potentially moving randomly) can be tracked while planning and recognition functions proceed independently. The tracking ability can also be used to provide a robot with visual feedback in real time for hand-eye coordination.