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Proceedings Paper

Robot-Based Real-Time Motion Tracker
Author(s): Matthew S. Clark
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Paper Abstract

This paper describes a motion-tracking system that couples a vision system and a robot arm manipulator. The main issue is how to combine typical existing laboratory-type equipment while resolving problems of asynchronous communication between devices. A pyramid-based motion-detection scheme is used to find the distance-independent region of motion within a camera scene. This information is relayed to the the robot arm, which physically moves the camera and orients it towards the region of detected motion. A static look-and-move method is implemented, and a timing algorithm is designed to coordinate the real-time vision and robot systems.

Paper Details

Date Published: 1 March 1990
PDF: 8 pages
Proc. SPIE 1198, Sensor Fusion II: Human and Machine Strategies, (1 March 1990); doi: 10.1117/12.969973
Show Author Affiliations
Matthew S. Clark, University of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 1198:
Sensor Fusion II: Human and Machine Strategies
Paul S. Schenker, Editor(s)

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