3D tracking using two high-speed vision systems

When considering real-world applications of robot control with visual servoing, both 3D information and a high feedback rate are required. We have developed a 3D target tracking system with a 1ms feedback rate using two high-speed vision systems called Column Parallel Vision (CPV) systems. To obtain 3D information, such as position, orientation, and shape parameters of the target object, a feature-based algorithm has been introduced using moment feature values extracted from vision systems for a spheroidal object model. Also, we propose a new 3D self windowing method to extract the target in 3D space, which is an extension of the conventional self windowing method in 2D images.