Real-time vergence control for binocular robots
International Journal of Computer Vision
Visual Control of Robots: High-Performance Visual Serving
Visual Control of Robots: High-Performance Visual Serving
X Vision: Combining Image Warping and Geometric Constraints for Fast Visual Tracking
ECCV '96 Proceedings of the 4th European Conference on Computer Vision-Volume II - Volume II
A System to Navigate a Robot into a Ship Structure
ICVS '01 Proceedings of the Second International Workshop on Computer Vision Systems
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In this paper the tracking performance of visual fixation control systems is evaluated in terms of the image processing architecture applied. The configurations evaluated are serial or parallel image acquisition and processing, and pipeline processing. The performance measure is the maximum change in velocity of the target in the image that can be tracked within the window observed. The basis of the evaluation is the design of an optimal controller with respect to a performance metric. This controller yields an equivalent transient response behavior for different latencies within the visual feedback system. Applying this controller a relation between system latency and maximum pixel error is derived. This maximum pixel error defines the window size necessary for not loosing the target. The window size, in turn, is directly related to the processing time. This dependence is used to find the dynamic performance for all the system configurations. The final comparison shows that processing in a pipeline obtains highest velocity due to high cycle rate of the system. The parameters for the point of maximum velocity of the pipeline structure are derived.