Active Vision System based on the Structural Tracking by using Robot Manipulator.

摘要

We propose a novel active vision system based on structural tracking. In this system, the position and the attitude of an object fixed to the camera coordinate system is kept constant by active manipulation of CCD camera.A high speed recognition method is proposed based on matching real image with image generated from object model.“Recognizability” is also proposed as the index of easiness of recognition. This is the original attempt to answer the question of “What are the best camera position and attitude to watch the object?”The proposed method was implemented by using two DSP's and the life-size 6-axis robot manipulator. One DSP was used for image processing and the other for robot control. The proposed active vision system showed its efficacy with laboratory experiments.