Real-time visual tracking for surveillance and path planning
In this paper we report progress towards a flexible, visually driven, object manipulation system. The aim is that a robot arm with a camera and gripper mounted on its tip should be able to transport objects across an obstacle-strewn environment. Our system is based on the analysis of moving image contours, which can provide direct estimates of the shape of curved surfaces. Recently we have elaborated on this basis in two respects. First we have developed real-time visual tracking methods using “dynamic contours” with Lagrangian Dynamics allowing direct generation of approximations to geodesic paths around obstacles. Secondly we have built a 2 1/2D system for incremental, active exploration of free-space.
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