Binocular tracking with ultrasonic sensors

T. I.James Tsay, M. K. Lee

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


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.

Original languageEnglish
Pages (from-to)134-143
Number of pages10
JournalInternational Journal of Computer Applications in Technology
Issue number2
Publication statusPublished - 2009 Aug

All Science Journal Classification (ASJC) codes

  • Software
  • Information Systems
  • Computer Science Applications
  • Computer Networks and Communications
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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