Camera-based 3D object tracking and following mobile robot

Nazim Mir-Nasiri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

Camera-based systems are frequently used to track moving objects which are in the field of their view. This paper describes design and development of a camera-based tracking robot that can constantly track moving object without necessity of calibrating camera in real world units then control the twowheeled moving platform to follow the object. The camera serves as a feedback sensor to guide robot constantly towards the object. The complexity of the system and processing time is less due to the unnecessary camera unit conversions and calibrations. The robot system consists of two subsystems: vision and motion. The vision subsystem consists of a two-motor pan-tilt camera driving mechanism with embedded potentiometer sensor, PCI image acquisition board, and PWM-based DC-motor driver board. The motion subsystem consists of two-wheel and two-castor platform driven by two DC servomotors with amplifiers. The vision subsystem identifies and locates the object in 3D scene by means of image processing techniques and motion control algorithms direct the camera towards the object. Camera motion is then detected by the potentiometer which generates a signal to drive the wheels of the platform. The objective of the vision control is to make sure that the moving object is always at the center of the camera image plane. The system imitates eye tracking ability of a human when he always tends to focus on moving object within the range of its view before any action is taken.

Original languageEnglish
Title of host publication2006 IEEE Conference on Robotics, Automation and Mechatronics
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE Conference on Robotics, Automation and Mechatronics - Bangkok, Thailand
Duration: Jun 7 2006Jun 9 2006

Publication series

Name2006 IEEE Conference on Robotics, Automation and Mechatronics

Other

Other2006 IEEE Conference on Robotics, Automation and Mechatronics
CountryThailand
CityBangkok
Period6/7/066/9/06

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ASJC Scopus subject areas

  • Computer Science(all)
  • Control and Systems Engineering

Cite this

Mir-Nasiri, N. (2006). Camera-based 3D object tracking and following mobile robot. In 2006 IEEE Conference on Robotics, Automation and Mechatronics [4018771] (2006 IEEE Conference on Robotics, Automation and Mechatronics). https://doi.org/10.1109/RAMECH.2006.252655