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Real-time Motion Vision for Robot Control in Unstructured Environments

by John Woodfill, Interval Research, Palo Alto, United States,
Ramin Zabih, Interval Research, Palo Alto, United States,
Oussama Khatib, Interval Research, Palo Alto, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

The control of robots in unstructured environments demands real-time, general purpose vision. We have designed a visual tracking system which makes use of motion to pick out and track moving objects without requiring information about their shape. The vision system has been implemented, and runs in real-time on a graphics accelerator in a Sun workstation. It has been used to provide visual feedback for a Puma manipulator controlled in operational space. The manipulator keeps a camera trained on a moving object. This robotic camera robustly follows people walking around in an unmodified room.

Subject Headings: Automation and robotics | Motion (dynamics) | Cameras | Tracking | Graphic methods | Computer programming | Space exploration

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