Visual tracking control for stereo vision robot with high gain controller and high speed cameras

摘要

The paper reports the visual tracking control to a fast moving object for stereo vision robot with using high speed cameras. The tracking delay due to the target motion should be suppressed with several approaches; adoption of the advanced control techniques, adjustment of the controller parameters, introduction of high-performance vision systems, and so on. In this paper, the ways adopting all of those approaches are examined to achieve the non-delayed visual tracking. And then, the contributions for the delay suppression in each approach are analyzed. As a result, it is found that both the higher feedback gains and the higher frequency of the image capturing are required simultaneously to realize the good performance in the visual tracking. This fact is confirmed in several physical experiments with using the stereo vision robot.