Visual tracking for moving multiple objects: an integration of vision and control
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Date
1995Type
- Conference Paper
ETH Bibliography
no
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Abstract
This paper addresses the use of a vision sensor in the feedback loop for tracking an object which is selected from multiple objects that are unknown and randomly moving on a conveyor belt. For achieving such a tracking task, a position-based visual tracking system is proposed. This system has a visual processing part in which multiple objects are segmented. Here, the authors address the segmentation problem as a clustering problem. In its control part, PD and self-tuning controllers are designed and compared with respect to their tracking speed and noise immunity performances. As the tracking device, a pan-tilt camera mount is proposed initially and the performance of the proposed visual servoing system is evaluated by simulations. The real-time applicability of the introduced vision system is then experimented on a Manutec R15 robotic manipulator in picking parts on a conveyor belt. The results show that the introduced system can be used as a real-time system. Show more
Publication status
publishedExternal links
Book title
1995 Proceedings of the IEEE International Symposium on Industrial ElectronicsPages / Article No.
Publisher
IEEEEvent
Organisational unit
09726 - Sitti, Metin (ehemalig) / Sitti, Metin (former)
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ETH Bibliography
no
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