Object Tracking With A Robotic Manipulator Mounted On Ground Vehicle Using Image Based Visual Servoing

被引：0

作者：

Sami, Muhammad Ahsan ^{[1
]}

Masood, Muhammad Umar ^{[1
]}

Waqar, Muhammad ^{[1
]}

Mujtaba, Muhammad ^{[1
]}

Shah, Abrahim Ali ^{[1
]}

Shujah, Adnan ^{[1
]}

Rashid, Nasir ^{[1
]}

Tiwana, Mohsin I. ^{[1
]}

Iqbal, Javaid ^{[1
]}

机构：

[1] Natl Univ Sci & Technol, Dept Mechatron Engn, H12, Islamabad, Pakistan

来源：

2017 17TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS) | 2017年

关键词：

Robotic Manipulator; Image Jacobian; Inverse Kinematics; PID; Canny Filter; Thresholding; Object Detection; Object Tracking; PART I; VISION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an application of a novel approach for detecting and tracking an object with a 2 DOF robotic manipulator which can be equipped with an array of electrically controlled actuators. The said approach utilizes the Image Based Visual Servoing (IBVS) technique. The developed system is able to determine the object pose in real time from features in the image. Object is detected using shaped based approach algorithms of image processing. The position and orientation of the world coordinates of the object being tracked are calculated from the coordinates of the object in image plane using camera's intrinsic and extrinsic parameters. Experimental results demonstrate the effectiveness of this proposed approach.

引用

页码：206 / 210

页数：5

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