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Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics

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Sensor Based Intelligent Robots

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 2238))

Abstract

Vision-based control needs fast and robust tracking. The conditions for fast tracking are derived from studying the dynamics of the visual servoing loop. The result indicates how to build the vision system to obtain high dynamic performance of tracking. Maximum tracking velocity is obtained when running image acquisition and processing in parallel and using appropriately sized tracking windows. To achieve the second criteria, robust tracking, a model-based tracking approach is enhanced with a method of Edge Projected Integration of Cues (EPIC). EPIC uses object knowledge to select the correct feature in real-time. The object pose is calculated from the features at every tracking cycle. The components of the tracking system have been implemented in a framework called Vision for Robotics (V4R). V4R has been used within the EU-funded project RobVision to navigate a robot into a ship section using the model data from the CAD-design. The experiments show the performance of tracking in different parts of the ship mock-up.

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Author information

Authors and Affiliations

  1. Institute of Flexible Automation, Vienna University of Technology, 1040, Vienna, Austria

    Markus Vincze, Minu Ayromlou, Stefan Chroust, Michael Zillich, Wolfgang Ponweiser & Dietmar Legenstein

Authors
  1. Markus Vincze
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  2. Minu Ayromlou
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  3. Stefan Chroust
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  4. Michael Zillich
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  5. Wolfgang Ponweiser
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  6. Dietmar Legenstein
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Johns Hopkins University, Baltimore

    Gregory D. Hager

  2. Center for Autonomous Systems, CVAP, Royal Institute of Technology, Sweden

    Henrik Iskov Christensen

  3. Department of Computer Science, University of Bern, German

    Horst Bunke

  4. Institute for Computer Science I, University of Bonn, USA

    Rolf Klein

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© 2002 Springer-Verlag Berlin Heidelberg

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Vincze, M., Ayromlou, M., Chroust, S., Zillich, M., Ponweiser, W., Legenstein, D. (2002). Dynamic Aspects of Visual Servoing and a Framework for Real-Time 3D Vision for Robotics. In: Hager, G.D., Christensen, H.I., Bunke, H., Klein, R. (eds) Sensor Based Intelligent Robots. Lecture Notes in Computer Science, vol 2238. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45993-6_7

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  • DOI: https://doi.org/10.1007/3-540-45993-6_7

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-43399-6

  • Online ISBN: 978-3-540-45993-4

  • eBook Packages: Springer Book Archive

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