Visual tracking of a moving object of a robot head with 3 DOF

Haigang Bie; Qiang Huang; Weimin Zhang; Bo Song; Kejie Li

doi:10.1109/RISSP.2003.1285657

Visual tracking of a moving object of a robot head with 3 DOF

Haigang Bie
, Qiang Huang
, Weimin Zhang
, Bo Song
, Kejie Li

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Contribution to conference › Paper › peer-review

10 Citations (Scopus)

Abstract

Visual tracking of a moving object is one of the fundamental functions of a robot head. In order to implement this task, it is necessary to process visual images and control the head motion. Firstly, this paper proposes the computer architecture with duplex computers and dual operating systems. One computer with the windows operating system is in charge of image processing, the other computer with the RT-Linux operating system is used to control the motion of the robot head. Then, we discuss the mechanism of the robot head with three degrees of freedom, and derive the image processing algorithm. The developed robot head has the height of 0.17 [m], width of 0.15 [m], depth of 0.12 [m] and the weight of 2.8 kg. Finally, experimental results show the robot head can track a moving object precisely in 3D space.

Original language	English
Pages	686-691
Number of pages	6
DOIs	https://doi.org/10.1109/RISSP.2003.1285657
Publication status	Published - 2003
Event	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 - Changsha, Hunan, China Duration: 8 Oct 2003 → 13 Oct 2003

Conference

Conference	IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003
Country/Territory	China
City	Changsha, Hunan
Period	8/10/03 → 13/10/03

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10.1109/RISSP.2003.1285657

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title = "Visual tracking of a moving object of a robot head with 3 DOF",

abstract = "Visual tracking of a moving object is one of the fundamental functions of a robot head. In order to implement this task, it is necessary to process visual images and control the head motion. Firstly, this paper proposes the computer architecture with duplex computers and dual operating systems. One computer with the windows operating system is in charge of image processing, the other computer with the RT-Linux operating system is used to control the motion of the robot head. Then, we discuss the mechanism of the robot head with three degrees of freedom, and derive the image processing algorithm. The developed robot head has the height of 0.17 [m], width of 0.15 [m], depth of 0.12 [m] and the weight of 2.8 kg. Finally, experimental results show the robot head can track a moving object precisely in 3D space.",

author = "Haigang Bie and Qiang Huang and Weimin Zhang and Bo Song and Kejie Li",

note = "Publisher Copyright: {\textcopyright} 2003 IEEE.; IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003 ; Conference date: 08-10-2003 Through 13-10-2003",

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doi = "10.1109/RISSP.2003.1285657",

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AU - Bie, Haigang

AU - Huang, Qiang

AU - Zhang, Weimin

AU - Song, Bo

AU - Li, Kejie

PY - 2003

Y1 - 2003

N2 - Visual tracking of a moving object is one of the fundamental functions of a robot head. In order to implement this task, it is necessary to process visual images and control the head motion. Firstly, this paper proposes the computer architecture with duplex computers and dual operating systems. One computer with the windows operating system is in charge of image processing, the other computer with the RT-Linux operating system is used to control the motion of the robot head. Then, we discuss the mechanism of the robot head with three degrees of freedom, and derive the image processing algorithm. The developed robot head has the height of 0.17 [m], width of 0.15 [m], depth of 0.12 [m] and the weight of 2.8 kg. Finally, experimental results show the robot head can track a moving object precisely in 3D space.

AB - Visual tracking of a moving object is one of the fundamental functions of a robot head. In order to implement this task, it is necessary to process visual images and control the head motion. Firstly, this paper proposes the computer architecture with duplex computers and dual operating systems. One computer with the windows operating system is in charge of image processing, the other computer with the RT-Linux operating system is used to control the motion of the robot head. Then, we discuss the mechanism of the robot head with three degrees of freedom, and derive the image processing algorithm. The developed robot head has the height of 0.17 [m], width of 0.15 [m], depth of 0.12 [m] and the weight of 2.8 kg. Finally, experimental results show the robot head can track a moving object precisely in 3D space.

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DO - 10.1109/RISSP.2003.1285657

M3 - Paper

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T2 - IEEE International Conference on Robotics, Intelligent Systems and Signal Processing, RISSP 2003

Y2 - 8 October 2003 through 13 October 2003

ER -

Visual tracking of a moving object of a robot head with 3 DOF

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