This paper presents simulation and experimental results of position-based visual servoing control process of a 6R robot using 2 fixed cameras. This method has the ability to deal with real time changes in the relative position of the target-object with respect to robot. Also, greater accuracy and independency of servo control structure from the target pose coordinates are the additional advanta...

This paper describes how to integrate tracking functions on a mobile robot. Tracking is required during autonomous robot navigation in different situations: landmark tracking to guarantee real-time robot localization, target tracking for a sensor based motion or obstacle tracking to control an obstacle avoidance procedure. These objects -landmarks, targets, and obstacleshave different character...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

A method of accurately controlling the position of a mobile robot using an external Large Volume Metrology (LVM) instrument is presented in this paper. Utilizing a LVM instrument such as a laser tracker or indoor GPS (iGPS) in mobile robot navigation, many of the most difficult problems in mobile robot navigation can be simplified or avoided. Using the real-time position information from the la...

In this article, we present a component-based visual tracker for mobile platforms with an application to person tracking. The core of the technique is a componentbased descriptor that captures the structure and appearance of a target in a flexible way. This descriptor can be learned quickly from a single training image and is easily adaptable to different objects. It is especially well suited t...

This paper describes the use of a low level, computationally inexpensive motion detector to initiate a higher level motion tracker based on an elliptical active contour or snake. The contour tracker is in turn used to direct a camera mounted on a robot arm. to track head shaped objects.