Variable Gain Based Object Tracking and Visual Servo Control with Pan Tilt Platform
Date Issued
2010
Date
2010
Author(s)
Su, Tsu-Hua
Abstract
The camera was invented in 17th century and it has been an invaluable part of human evolution ever since. For the first time in human history, scenes can be captured and documented with more detailed truth instead of sometimes farfetched or bias hand drawing. In the early 20th century, the invention of television has made camera even more important as the device evolved from a simple static picture capturing machine to a motion picture recording device. The recent advent of technology has reduced the size of the camera, making it lightweight and small enough to be equipped on every street lamp, highway exit, and ATM machine so people, traffics and movement can be monitored.
The disadvantages of today’s camera include narrow field of view and inability to accurately follow a target of interest. The solution for these problems is the active camera visual servo pan tilt tracking system. In this thesis, the author studies through a number of previous works to determine that there are three basic components for such a system. The first one is the visual sensor. The second part is the rotating platform that houses the visual sensor. The third part is the processing algorithm. A simple active camera visual servo pan tilt tracking system is built using these three basic components and tests are conducted to determine the system’s performance. A new variable proportional control is designed to better follow the target of interest. In the end, experimental results are shown.
Subjects
Visual Servo
Visual Tracking
Pan Tilt Platform
Variable Gain
Real Time Gain Adjustment
Type
thesis
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