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Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking

This paper presents the design and implementation of a visual servo system, which uses a stereo machine vision system to guide an omnidirectional mobile robot for real-time object tracking. The vision system consists of two image sensors so that the position of the target in the space can be obtaine...

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Main Authors:	Sho-Tsung Kao, Chung-Yi Yen, Ming-Tzu Ho
Format:	Conference Proceeding
Language:	English
Subjects:	Cameras Equations Machine vision Mathematical model Mobile robots omnidirectional mobile robot Pixel real-time image processing visual servo
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creator	Sho-Tsung Kao Chung-Yi Yen Ming-Tzu Ho
description	This paper presents the design and implementation of a visual servo system, which uses a stereo machine vision system to guide an omnidirectional mobile robot for real-time object tracking. The vision system consists of two image sensors so that the position of the target in the space can be obtained. The realtime vision system is placed on the omnidirectional mobile robot for navigation. The tracking control of the robot is done by feedback linearization combined with PID control. The tracking controller is implemented on a digital signal processor. For the machine vision system, the image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. The effectiveness of the tracking controller and stereo machine vision system is verified through simulation and experimental studies.
format	conference_proceeding
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The effectiveness of the tracking controller and stereo machine vision system is verified through simulation and experimental studies.</description><subject>Cameras</subject><subject>Equations</subject><subject>Machine vision</subject><subject>Mathematical model</subject><subject>Mobile robots</subject><subject>omnidirectional mobile robot</subject><subject>Pixel</subject><subject>real-time image processing</subject><subject>visual servo</subject><isbn>9781424476428</isbn><isbn>1424476429</isbn><isbn>9784907764364</isbn><isbn>9784907764357</isbn><isbn>4907764367</isbn><isbn>4907764359</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2010</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNp9issKwjAQRSMiKNovcDM_UIg19rH2gR_gXtJ2WqYmGUmi4N9bxbV3c7nnnolIqqJUlSyKXG1zNf3ujcqUGkFWzkUSwiDHqF0mi81CuAMG6h1o1wLZu0GLLupI7IA70BAiemR4UhhR2j-oxRbYOmrJY_PxtAHLNRkEzzVH6NiDR23SSBaB62HUIHrd3Mj1KzHrtAmY_Hop1qfjZX9OCRGvd09W-9d1l8uskmr7_30DIydIfQ</recordid><startdate>201008</startdate><enddate>201008</enddate><creator>Sho-Tsung Kao</creator><creator>Chung-Yi Yen</creator><creator>Ming-Tzu Ho</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201008</creationdate><title>Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking</title><author>Sho-Tsung Kao ; Chung-Yi Yen ; Ming-Tzu Ho</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-ieee_primary_56029043</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2010</creationdate><topic>Cameras</topic><topic>Equations</topic><topic>Machine vision</topic><topic>Mathematical model</topic><topic>Mobile robots</topic><topic>omnidirectional mobile robot</topic><topic>Pixel</topic><topic>real-time image processing</topic><topic>visual servo</topic><toplevel>online_resources</toplevel><creatorcontrib>Sho-Tsung Kao</creatorcontrib><creatorcontrib>Chung-Yi Yen</creatorcontrib><creatorcontrib>Ming-Tzu Ho</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sho-Tsung Kao</au><au>Chung-Yi Yen</au><au>Ming-Tzu Ho</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking</atitle><btitle>Proceedings of SICE Annual Conference 2010</btitle><stitle>SICE</stitle><date>2010-08</date><risdate>2010</risdate><spage>2968</spage><epage>2974</epage><pages>2968-2974</pages><isbn>9781424476428</isbn><isbn>1424476429</isbn><eisbn>9784907764364</eisbn><eisbn>9784907764357</eisbn><eisbn>4907764367</eisbn><eisbn>4907764359</eisbn><abstract>This paper presents the design and implementation of a visual servo system, which uses a stereo machine vision system to guide an omnidirectional mobile robot for real-time object tracking. 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identifier	ISBN: 9781424476428
ispartof	Proceedings of SICE Annual Conference 2010, 2010, p.2968-2974
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language	eng
recordid	cdi_ieee_primary_5602904
source	IEEE Electronic Library (IEL) Conference Proceedings
subjects	Cameras Equations Machine vision Mathematical model Mobile robots omnidirectional mobile robot Pixel real-time image processing visual servo
title	Design and implementation of a stereo vision-guided omnidirectional mobile robot for real-time object tracking
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