Visual Servo System Design Based on Embedded Linux
This thesis concerns the establishment of a visual servo system based on embedded Linux mainly used for recognition and tracking of the moving objects in a relatively simple background of the house. At first, the thesis studied the successful transplant of the open source visual library Open CV to the embedded Linux and the build of the hardware/software platform and cross-compiling environment.The image of the moving object is processed via Open CV. The shape recognition of the moving object is achieved according to the feature information of provincial characteristics of image—moment invariants. The spatial value of manipulator end is calculated by the estimate of the offset of the moving project’s profile and then the angles of the mechanical arms’ joints are adjusted accordingly. These conditions would be approximated gradually to achieve the tracking of the moving object.
embedded visual servo object recognition and tracking Open CV moment invariants
Yan Kai. Chao Yong Huan. Yang Yu Lin. Xu
Department of Mechatronics Engineering andAutomation, Shanghai University, Shanghai Department of Mechatronics Engineeringand Automation, Shanghai University, Shanghai Department of Mechatronics Engineering and Automation, Shanghai University, Shanghai
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
2769-2773
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）