Visual servoing using statistical pressure snakes.

Schaub, Hanspeter (ORION International Technologies, Albuquerque, NM)

Sandia National Laboratories

关键词: Cameras;    99 General And Miscellaneous//Mathematics, Computing, And Information Science;    Color;    Imaging Systems.V/Sand_Doc/2004/041868.Pdf;    Targets;   

DOI  :  10.2172/1013242
RP-ID  :  SAND2004-1868
RP-ID  :  AC04-94AL85000
RP-ID  :  1013242

美国|英语

来源: UNT Digital Library

【 摘 要 】

A nonlinear visual servoing steering law is presented which is used to align a camera view with a visual target. A full color version of statistical pressure snakes is used to identify and track the target with a series of video frames. The nonlinear steering law provides camera-frame centric speed commands to a velocity based servo sub-system. To avoid saturating the subsystem, the commanded speeds are smoothly limited to remain within a finite range. Analytical error analysis is also provided illustrating how the two control gains contribute to the stiffness of the control. The algorithm is demonstrated on a pan and tilt camera system. The control law is able to smoothly realign the camera to point at the target.