Visual servoing using statistical pressure snakes. | Zendy

Hanspeter Schaub | Zendy

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Visual servoing using statistical pressure snakes.

Author(s) -

Hanspeter Schaub

Publication year - 2004

Language(s) - English

Resource type - Reports

DOI - 10.2172/1013242

Subject(s) - visual servoing , computer vision , artificial intelligence , tilt (camera) , computer science , nonlinear system , frame (networking) , range (aeronautics) , point (geometry) , servo , stiffness , servomechanism , control theory (sociology) , engineering , control (management) , mathematics , control engineering , image (mathematics) , telecommunications , physics , geometry , quantum mechanics , aerospace engineering , structural engineering , mechanical engineering

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

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