Visual Feedback Tracking with Laser to Moving Crane Hook

Shunsuke Nara; Satoru Takahashi

doi:10.20965/jrm.2006.p0795

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JRM Vol.18 No.6 pp. 795-802

doi: 10.20965/jrm.2006.p0795

(2006)

Paper:

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Visual Feedback Tracking with Laser to Moving Crane Hook

Shunsuke Nara and Satoru Takahashi

Department of Intelligent Mechanical Systems Engineering, Kagawa University, 2217-20 Hayashi-Cho, Takamatsu-City, Kagawa 761-0396, Japan

Received:

March 22, 2006

Accepted:

September 21, 2006

Published:

December 20, 2006

Keywords:

image recognition, extended Kalman filter, visual feedback control, sensor fusion

Abstract

This paper introduces measurement of the working radius of a crane truck based on visual feedback control. In order to realize the measurement, we developed an observation device which is equipped with a CCD camera, a laser range finder, and AC servo motors. Further, we propose a new algorithm for mark recognition and construct a control system with an extended Kalman filter to eliminate a time delay. By performing several experiments, we verify the performance of the observation device, and show the effectiveness of our proposed method.

Cite this article as:

S. Nara and S. Takahashi, “Visual Feedback Tracking with Laser to Moving Crane Hook,” J. Robot. Mechatron., Vol.18 No.6, pp. 795-802, 2006.

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References

[1] S. Hutchinson, G. D. Hager, and P. I. Corke, “A tutorial on visual servo control,” IEEE Trans. on Robotics and Automation, Vol.12, No.5, pp. 651-670, 1996.
[2] S. Kaneko, K. Horiuchi, and T. Honda, “Estimation of Three Dimensional Motion Based on Multiple Distributed Kalman Filters,” IEICE Trans. on Information and Systems, Vol.J79-D-II, No.5, pp. 840-850, 1996.
[3] D. Miyamoto, S. Nara, S. Takahashi, and S. Kaneko, “Tracking Control System Based on Orientation Code Matching,” Proc. of SPIE International Symposium on Optomechatronic Technologies, 2005 (CD-ROM).
[4] S. Murakami, “Image Processing Technology,” Tokyo Denki University Press, 1996.
[5] D. Purwanto, T. Murakami, and K. Ohnishi, “Position-velocitybased trajectory control for manipulator and its application to visual tracking system,” IEEJ Trans. on Industry Applications, Vol.121, No.8, pp. 894-901, 2001.
[6] K. Sabe, M. Fukuchi, J. S. Gutmannand, T. Ohashi, K. Kawamoto, and T. Yoshigahara, “Obstacle Avoidance and Path Planning for Humanoid Robots using Stereo Vision,” Proc. of International Conference on Robotics and Automation, 2004.
[7] K. Saruta, H. Fujimoto, and Y. Hori, “Visual Servoing System with Feature Prediction using Motion Observer,” IEEJ Trans. on Industry Applications, Vol.122, No.5, pp. 516-521, 2002.
[8] M. Shibata and T. Honma, “A Control Technique for 3D Object Tracking on Active Stereo Vision Robot,” IEEJ Trans. on Electronics, Information and Systems, Vol.125, No.3, pp. 536-537, 2005.
[9] T. Shiozaki and T. Murakami, “3D Position Detection of a Moving Object in Active Stereo Vision System with Multi-DOF Motion,” IEEJ Trans. on Industry Applications, Vol.125, No.6, pp. 561-567, 2005.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Hutchinson, G. D. Hager, and P. I. Corke, “A tutorial on visual servo control,” IEEE Trans. on Robotics and Automation, Vol.12, No.5, pp. 651-670, 1996.

[2] [2] S. Kaneko, K. Horiuchi, and T. Honda, “Estimation of Three Dimensional Motion Based on Multiple Distributed Kalman Filters,” IEICE Trans. on Information and Systems, Vol.J79-D-II, No.5, pp. 840-850, 1996.

[3] [3] D. Miyamoto, S. Nara, S. Takahashi, and S. Kaneko, “Tracking Control System Based on Orientation Code Matching,” Proc. of SPIE International Symposium on Optomechatronic Technologies, 2005 (CD-ROM).

[4] [4] S. Murakami, “Image Processing Technology,” Tokyo Denki University Press, 1996.

[5] [5] D. Purwanto, T. Murakami, and K. Ohnishi, “Position-velocitybased trajectory control for manipulator and its application to visual tracking system,” IEEJ Trans. on Industry Applications, Vol.121, No.8, pp. 894-901, 2001.

[6] [6] K. Sabe, M. Fukuchi, J. S. Gutmannand, T. Ohashi, K. Kawamoto, and T. Yoshigahara, “Obstacle Avoidance and Path Planning for Humanoid Robots using Stereo Vision,” Proc. of International Conference on Robotics and Automation, 2004.

[7] [7] K. Saruta, H. Fujimoto, and Y. Hori, “Visual Servoing System with Feature Prediction using Motion Observer,” IEEJ Trans. on Industry Applications, Vol.122, No.5, pp. 516-521, 2002.

[8] [8] M. Shibata and T. Honma, “A Control Technique for 3D Object Tracking on Active Stereo Vision Robot,” IEEJ Trans. on Electronics, Information and Systems, Vol.125, No.3, pp. 536-537, 2005.

[9] [9] T. Shiozaki and T. Murakami, “3D Position Detection of a Moving Object in Active Stereo Vision System with Multi-DOF Motion,” IEEJ Trans. on Industry Applications, Vol.125, No.6, pp. 561-567, 2005.