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Application of Template Update to Visual Servo for a Deformable Object

A monocular visual servo system for a target with variable shape has been developed in this paper. It consists of two parts: an image-processing unit and a servo control unit. For the image-processing unit, the motion between the target and image center is determined by a template match approach. The image is grabbed by the camera equipped on a Pan-Tilt robot and the robot is controlled to track the target by maintaining the target on the image center. However, the template needs to be updated when the target deforms. For the servo control unit, the movement is estimated by the Kalman filter technique to enhance the tracking performance of the visual servo system.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0804108-141710
Date04 August 2008
CreatorsChou, Cheng-te
ContributorsInnchyn Her, Chi-cheng Cheng, Chau-chang Wang
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0804108-141710
Rightsnot_available, Copyright information available at source archive

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