A visual servoing system for tracking of moving object

The robotic visual servoing system related to robot control and machine vision issue has received many attentions from researchers. The system introduced in this paper consists of a pan/tilt robot with 2 degree of freedom that controls a videocamera. The aim of system is to move robot in such a way that the image of an unknown moving object attains the center of camera. We propose a kinematic model that relates the position of object’s centroid in the image plane with the pan and tilt rotation angles. In order to maintain the object in the field of vision of videocamera, a prediction algorithm for position and velocity is used. This paper also briefly describes image processing, auto detection and recognition of moving objects. The experiment with VICON system presents good results.