Object tracking of the mobile robot using the stereo camera

Abstract

This paper proposes a visual servoing algorism for the object tracking by a mobile robot with the stereo camera. The mobile robot performs an object recognition and object tracking using the SIFT and CAMSHIFT algorism for the visual servoing. The CAMSHIFT algorism has been used to obtain the three-dimensional position and orientation of the mobile robot. With the visual servoing, a stable balance control has been realized by a control system which calculates a desired angle of the center of gravity whose location depends on variations of link rotation angles of the manipulator. To demonstrate the control performance of the visual servoing, real experiments ware performed using the mobile manipulator system developed for this research.