Acquisition Of Moving Objects And Hand-Eye Coordination

Many a p p l i c a t i o n s f o r r o b o t i c systems r e q u i r e the a b i l i t y to handle moving o b j e c t s . A method f o r p r o v i d i n g a robot w i t h r e a l t i m e v i s u a l process i n g of moving o b j e c t s is presented. By a p p r o p r i a t e l y i s o l a t i n g the t r a c k i n g t a s k . I t i s p o s s i b l e to reduce the t r a c k i n g problem to two dimensional p a t t e r n r e c o g n i t i o n . Numerous o b j e c t s ( p o t e n t i a l l y moving randomly) can be t r a c k e d w h i l e i d e n t i f y i n g one o b j e c t at a t i m e . The t r a c k i n g a b i l i t y can a l s o be used to p r o v i d e a r o b o t w i t h v i s u a l feedback ( i n r e a l t i m e ) f o r hand-eye c o o r d i n a t i o n .