Servo tracking of three-dimensional motion by the parallel trinocular

  • Authors:

  • Chi-Cheng Cheng;Lan-Yuan Hsu;Gwo-Long Lin;Chien-Hung Chiang

  • Affiliations:

  • Department of Mechanical and Electro-Mechanical Engineering, Institute of Underwater Technology, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China;Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China;Department of Digital Game Design, Kao Fong College, Pingtung, Taiwan, Republic of China;Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, Kaohsiung, Taiwan, Republic of China

  • Venue:
  • WSEAS Transactions on Systems and Control
  • Year:
  • 2008

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Abstract

This study develops a novel least-squares algorithm for recovering the translational motion parameters of a moving object using a parallel trinocular vision system. Although the proposed approach overcomes the matrix singularity problem inherent in binocular observers, its implementation is somewhat complex. Accordingly, a compact closed-form version of the algorithm is proposed to facilitate real-world visual imaging applications. The closed-form scheme not only resolves the matrix singularity problem, but also avoids the requirement for matrix manipulation and is therefore computationally efficient. The validity of the closed-form scheme is verified by comparing the known translation displacements of a target object with the estimated values. The results demonstrate that the proposed scheme accurately recovers the translational motion parameters provided that the movement of the target in the depth direction is of limited magnitude only. To verify the practical applicability of the proposed scheme, a servo tracking experiment is performed in which a parallel trinocular system mounted on a servo-driven positioning platform is used to track the motion of a target object as it is moved through a series of 3D displacements. The experimental results demonstrate that the closed-form scheme enables the parallel trinocular vision system to track the target effectively.