Binocular tracking with ultrasonic sensors

This paper proposes an Image-Based Visual Servo control (IBVS) method that integrates the kinematics of both a robotic binocular head and cameras with the dynamics of the binocular head and uses a fuzzy sliding mode control algorithm. The proposed method utilises ultrasonic sensors to supply distance information to the visual servo system. In image processing, an attention window is estimated to mark the 3D moving object: the size of the window can increase or decrease according to the size of the object. Finally, two experiments based on the multiple-sensor binocular head are performed to verify the theoretical results.