Visual servoing using statistical pressure snakes.

Technical Report · Sat May 01 00:00:00 EDT 2004

DOI:https://doi.org/10.2172/1013242· OSTI ID:1013242

Schaub, Hanspeter ^[1]

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1. ORION International Technologies, Albuquerque, NM

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.

• Research Organization: Sandia National Laboratories (SNL), Albuquerque, NM, and Livermore, CA (United States)
• Sponsoring Organization: USDOE
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 1013242
• Report Number(s): SAND2004-1868; TRN: US201110%%627
• Country of Publication: United States
• Language: English

Related Subjects

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