chayatat ratanasawanya min he april 6, 2010. recall previous presentation the goal progress...
DESCRIPTION
4 visual-servoing structures ◦ Dynamic position-based look-and-move ◦ Dynamic image-based look-and-move ◦ Position-based visual servoing (PBVS) ◦ Image-based visual servoing (IBVS) Implemented a simulation of the dynamic position-based look-and-move system. Implemented a Simulink model to locate the centroid of a ping-pong ball in image.TRANSCRIPT
Visual servoing using 2DOF helicopter
model Chayatat Ratanasawanya
Min HeApril 6, 2010
Recall previous presentation The goal Progress report
◦ Image processing◦ depth estimation◦ Camera placement
Obstacles◦ Combine image processing and control Simulink
models Idea for the next step Questions/Comments
Overview
4 visual-servoing structures◦ Dynamic position-based look-and-move◦ Dynamic image-based look-and-move◦ Position-based visual servoing (PBVS)◦ Image-based visual servoing (IBVS)
Implemented a simulation of the dynamic position-based look-and-move system.
Implemented a Simulink model to locate the centroid of a ping-pong ball in image.
Previous presentation
Implement the system using PBVS, IBVS, or both techniques.
Tasks to tackle:◦ Image processing◦ Depth estimation◦ Camera placement on the helicopter model◦ Combine image processing and control Simulink
models.◦ Jacobian matrix derivation
The goal
Image processing
Use the diameter of the ball in image to estimate the depth
Depth estimation
Depth, D
Focal lengthF=538 pixel
Center of projection
Actual ball diameter db=40mm
Ball diameter on image, dimg
img
b
imgb
ddfD
df
dD
Depth estimation
area 6349 4384 3199 2386 1879 1492 1120 985 1082 975 1032 1122 1075
dm 92 76 64 56 49 44 38 36 38 35 37 40 39
real dis 234.0 284.8 335.6 386.4 437.2 488 538.8 589.6 589.6 589.6 589.6 589.6 589.6
Cal dis 234.4 282.2 335.0 386.0 436.0 487.6 565.6 601.9 561.6 608.3 577.3 542.1 552.8
0 2 4 6 8 10 12 140.0
10.020.030.040.050.060.070.080.090.0
100.0
diameter
Camera placement
Combining our image processing model and the control model has been a challenging task.
Obstacles
Global variable
Idea for the next step ex
ey
feD
e
ddfD
imgreal
img
b
Increment in pitch and yaw angles
LQR controller
Questions/comments are welcome
Thank you