Implementation of a following wheel robot featuring stereoscopic vision

Implementation of a following wheel robot featuring stereoscopic vision This paper describes how two cameras were used to implement stereoscopic visual imaging through a robot vision system. Image processing was applied to construct a real-time stereoscopic image tracking system for use in robots. The target object was sought by image preprocessing. The deviation of the target object from the optical center of the two cameras was measured to calculate the stereoscopic image depth of the target object, and the target object was instantly locked for real-time tracking. This system consists of two parts. The first part uses depth calculation to determine the distance between the target object and robot platform and applies image processing to simplify the image. The deviation angles of the left and right images are subsequently measured to calculate the target object distance. The second part uses real-time image tracking so that the platform can lock the image of the target object into an overlapping image. Proportional–integral–derivative (PID) feedback controls the robot movement and instantly obtains the target object and offset direction. The signal is exported to dc servo motors to drive the rotation of the two cameras and the movement of the platform. The image of the target object is locked in the image center of the stereoscopic visual system for real-time tracking. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Multimedia Tools and Applications Springer Journals

Implementation of a following wheel robot featuring stereoscopic vision

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Publisher
Springer Journals
Copyright
Copyright © 2016 by Springer Science+Business Media New York
Subject
Computer Science; Multimedia Information Systems; Computer Communication Networks; Data Structures, Cryptology and Information Theory; Special Purpose and Application-Based Systems
ISSN
1380-7501
eISSN
1573-7721
D.O.I.
10.1007/s11042-016-4297-y
Publisher site
See Article on Publisher Site

Abstract

This paper describes how two cameras were used to implement stereoscopic visual imaging through a robot vision system. Image processing was applied to construct a real-time stereoscopic image tracking system for use in robots. The target object was sought by image preprocessing. The deviation of the target object from the optical center of the two cameras was measured to calculate the stereoscopic image depth of the target object, and the target object was instantly locked for real-time tracking. This system consists of two parts. The first part uses depth calculation to determine the distance between the target object and robot platform and applies image processing to simplify the image. The deviation angles of the left and right images are subsequently measured to calculate the target object distance. The second part uses real-time image tracking so that the platform can lock the image of the target object into an overlapping image. Proportional–integral–derivative (PID) feedback controls the robot movement and instantly obtains the target object and offset direction. The signal is exported to dc servo motors to drive the rotation of the two cameras and the movement of the platform. The image of the target object is locked in the image center of the stereoscopic visual system for real-time tracking.

Journal

Multimedia Tools and ApplicationsSpringer Journals

Published: Jan 3, 2017

References

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