In this paper, the classical task of mobile target tracking using a pan-and-tilt camera is considered. The authors use recent results in motion-based visual servoing to deal with complex targets for which shape and texture are unknown. The first method consists of designing a control law directly from the estimated image motion. This leads to the computation of the pan-and-tilt acceleration nec...

This paper presents an open platform to design, simulate and test robotic image-based visual servoing systems using off-the-shelf commercial cameras and standard personal computers. First a set of simulation files for Matlab is introduced and then a real-time toolkit for visual servoing is presented. The latter makes extensive use of separate threads and multiprocess computing to support the im...

This paper introduces a sensor placement measure called resolvability. The measure provides a technique for estimating the relative ability of various visual sensors, including monocular systems, stereo pairs, multi-baseline stereo systems, and 3D rangefinders, to accurately control visually manipulated objects. The resolvability ellipsoid illustrates the directional nature of resolvability, an...

In this paper we describe a teleoperated microassembly workcell that integrates a VRML-based virtual microworld with visual servoing micromanipulation strategies. Java is used to program the VRML-based supervisory interface and to communicate with the microassembly workcell. This provides platform independence and allows remote teleoperation over the Internet. A key aspect of our approach entai...

Visual Servoing for a Quadrotor UAV in Target Tracking Applications Marinela Georgieva Popova Master of Applied Science Graduate Department of Aerospace Engineering University of Toronto 2015 This research study investigates the design and implementation of position-based and image-based visual servoing techniques for controlling the motion of quadrotor unmanned aerial vehicles (UAVs). The prim...

Visual servoing technique used in microassembly limits its application, due to the two inherent problems, small depth of focus and small field of view. To avoid this criticism, in this paper, we present a method of microassembly using active zooming, which can solve these problems. In order to solve the problem of small field of view, the method using active zooming that can prevent the target ...