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Title: Visual servoing using statistical pressure snakes.

Abstract

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.

Authors:
 [1]
  1. (ORION International Technologies, Albuquerque, NM)
Publication Date:
Research Org.:
Sandia National Laboratories
Sponsoring Org.:
USDOE
OSTI Identifier:
1013242
Report Number(s):
SAND2004-1868
TRN: US201110%%627
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ALGORITHMS; CAMERAS; COLOR; FLEXIBILITY; TARGETS; VELOCITY; Image processing-Statistical methods.; Imaging systems.v/sand_doc/2004/041868.pdf

Citation Formats

Schaub, Hanspeter. Visual servoing using statistical pressure snakes.. United States: N. p., 2004. Web. doi:10.2172/1013242.
Schaub, Hanspeter. Visual servoing using statistical pressure snakes.. United States. doi:10.2172/1013242.
Schaub, Hanspeter. Sat . "Visual servoing using statistical pressure snakes.". United States. doi:10.2172/1013242. https://www.osti.gov/servlets/purl/1013242.
@article{osti_1013242,
title = {Visual servoing using statistical pressure snakes.},
author = {Schaub, Hanspeter},
abstractNote = {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.},
doi = {10.2172/1013242},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2004},
month = {5}
}

Technical Report:

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