Visual tracking of unknown moving object by adaptive binocular visual servoing

摘要

Visual tracking of moving objects is one of the most fundamental capabilities for intelligent robots to accomplish the given task in unknown, dynamic environments. Visual servoing which utilizes direct feedback from image features to motion control has been used to realize such capability. Adaptive visual servoing has been proposed by Hosoda et al. (1994) to remedy the limitation of the conventional approach. This paper proposes an extension of the adaptive visual servoing for unknown moving object tracking. The method utilizes binocular stereo vision system, but does not need the knowledge of camera parameters. Only one assumption is needed: stationary references in the both images by which the system can predict the motion of unknown moving objects. The experimental results are shown and a discussion is given.