Intelligent active vision systems for robots

Intelligent active vision systems for robots
ISBN-10
3867271089
ISBN-13
9783867271080
Category
Computers
Pages
229
Language
English
Published
2007-01-08
Publisher
Cuvillier Verlag
Authors
Erik Valdemar Cuevas Jiménez, Daniel Zaldívar Navarro, Raúl Rojas

Description

In this paper, an active vision system is developed which is based on image strategy. The image based control structure uses the optical flow algorithm for motion detection of an object in a visual scene. Because the optical flow is very sensitive to changes in illumination or to the quality of the video, it was necessary to use median filtering and erosion and dilatation morphological operations for the decrease of erroneous blobs residing in individual frames. Since the image coordinates of the object are subjected to noise, the Kalman filtering technique is adopted for robust estimation. A fuzzy controller based on the fuzzy condensed algorithm allows real time work for each captured frame. Finally, the proposed active vision system has been simulated in the development/simulation environment Matlab/Simulink.

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