NDLI: Improving the robustness of image-based tracking to control 3D robot motions

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Index of authors

Improving the robustness of image-based tracking to control 3D robot motions

Content Provider	IEEE Xplore Digital Library
Author	Vincze, M. Ayromlou, M. Kubinger, W.
Copyright Year	1999
Description	Author affiliation: Inst. for Flexible Autom., Tech. Univ. Wien, Austria (Vincze, M.)
Abstract	This paper reports new techniques to render real-time image-based tracking methods more robust to enable the control of robots in an arbitrary 3D indoor environment. The methods enable robust feature tracking by integrating several cues within tracking windows. Integration is achieved using EPIC, a method of edge-projected integration of cues at field rate using a common Pentium PC. The thorough analysis of the control loop indicates this need to operate at field rate to obtain optimal dynamic performance. The demonstration verifies this and shows the application of following in 6D a grey part over grey metal background using common room lighting.
Starting Page	274
Ending Page	279
File Size	150280
Page Count	6
File Format	PDF
ISBN	0769500404
DOI	10.1109/ICIAP.1999.797607
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-09-27
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robust control Tracking Motion control Robot control Automatic control Electrical capacitance tomography Control systems Robotics and automation Robot motion Vehicle dynamics
Content Type	Text
Resource Type	Article

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