Robot-Based Real-Time Motion Tracker
Matthew S. Clark · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1990
This paper describes a motion-tracking system that couples a vision system and a robot arm manipulator. The main issue is how to combine typical existing laboratory-type equipment while resolving problems of asynchronous communication between devices. A pyramid-based motion-detection scheme is used to find the distance-independent region of motion within a camera scene. This information is relayed to the the robot arm, which physically moves the camera and orients it towards the region of detected motion. A static look-and-move method is implemented, and a timing algorithm is designed to coordinate the real-time vision and robot systems.