Design and implementation of a color-based visual tracking control system

Sho Tsung Kao, Zong Yu Yang, Ming Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper considers the problems of developing a visual servo system to track a flying object based on the color information of the object. The system consists of three parts: a pan and tilt mechanism, image processing module and motor control module. The position of the target object in the space is determined by using the image processing algorithms based on the color detection. The position controllers of the motor control module control the pan and tilt mechanism to track and keep the target object in the field of view of cameras. Use of color detection makes the visual servo system able to work in a more complicated circumstance. The Kalman filter is used for predicting the flying trajectory to improve the performance of tracking control. Moreover, estimation of the point of fall is studied by the projectile physics. The effectiveness of the system is verified through experimental studies. The experimental results show that the designed color-based visual servo system performs well in real-time.

Original languageEnglish
Title of host publication2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest
Pages371-376
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 CACS International Automatic Control Conference, CACS 2013 - Nantou, Taiwan
Duration: 2013 Dec 22013 Dec 4

Publication series

Name2013 CACS International Automatic Control Conference, CACS 2013 - Conference Digest

Other

Other2013 CACS International Automatic Control Conference, CACS 2013
CountryTaiwan
CityNantou
Period13-12-0213-12-04

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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