Visual Servoing -part I( Real-Time Pan & Tilt Tracking System )

Visual Servoing (VS) is a control technique in which a vision sensor provides feedback information to control a robot movement. In this project we utilize VS as an approach for some robotic platforms.

In the first part, As a common example of VS we implemented a fast Pan & Tilt tracking system. The aim of such a system is to keep it’s look on a certain moving object. In this manner, first a camera detects the object then using two servo motors, camera is rotated about pan and tilt axes so as to bring the object position -described in image frame- to the center of the image.

The mentioned system uses two Dynamixel servo motors and a high frame rate camera to perform sufficiently fast (120 fps) in order not to miss fast movements of the object even when the object is falling down.In addition, Machine Vision and Image Processing algorithms are implemented under QT framework by making use of fast C++ library for real-time purpose called CMVison.


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