Shunsuke Nara

Visual Feedback Tracking of Crane Hook

In this paper, we develop an observation device to measure a 3D position for a moving object by using a laser range finder and a CCD camera. Then, we propose new method for the object recognition and the tracking control, respectively. As for the recognition, we use a special mark which is called the cross mark. For the tracking control, we construct PID control with an extended Kalman filter to realize control system without delay. Through some experiments, we verify performance of observation device and show availability of our proposed method

Visual Feedback Control with Laser for the Position Detection of Crane Hook

In this paper, we introduce an development device which can measure the working radius of crane truck, automatically. This device is equipped with a laser range finder, a CCD camera and two AC servo motors. Each motor has an encoder. First, we propose the method of object recognition to measure the position of mark set of measurement object, and secondly construct the tracking control system to the development device. Then, it has PI control system with an extended Kalman filter. Through experiments, we show the effectiveness of our proposed method

Obstacle Avoidance Control for Mobile Robots based on Vision

This paper treats the navigation problem of mobile robots to avoid obstacles according to vision information. In our method, first we detect obstacles which exist in front of a mobile robot by calculating the optical flow. Then, based on the area of detection we decide the optimal trajectory for a robot. Here, we may use the sensor data for supporting a vision system. In order to find the optimal trajectory, we compute the distance between a mobile robot and obstacle evaluating a function. Through experiments, we show how our proposed method can avoid obstacles.

Position Measurement of Crane Hook by Vision and Laser

In this paper, we develop the observation device which measures the working radius of a crane. To realize the measurement, the observation device has the CCD camera and the laser range finder, and the specific mark is attached to a crane. Then, we propose methods for the object recognition and the tracking control. As for the tracking control, to realize the control system without time delay, we construct PI control with an extended Kalman filter. It follows from some experiments that the observation device which we developed enables high accuracy measurement of the working radius of a crane

Vision-based tracking control using mark recognition

This paper introduces tracking control system with visual feedback to a moving target using a measurement device we developed. In order to recognize the moving object, we use two algorithm, one is the cross-shape mark algorithm and the other is orientation code matching algorithm. Then, the measurement device consists of the PID control system with extended Kalman filter in order to decrease the time delay of image processing. Finally, through experiments, we show utility of our device in the field of object tracking based on visual feedback system

Position Measurement of a Moving Mark by Vision and Laserg

The purpose of this paper is to measure the working radius of a crane truck by using vision systems. Then, we introduce the observation device which is equipped with a CCD camera, a laser range finder and two AC servo motors. Further, we propose new algorithm for the mark recognition and then construct PID control system with an extended Kalman filter in order to realize the system without the time delay. Through some experiments, we verify performance of observation device which we developed

Mark position measurement by visual feedback with laser

In this paper, we develop an observation device to measure a 3D position for a moving object by using a laser range finder and a CCD camera. Then, we propose a new method for the object recognition and the tracking control, respectively. As for the recognition, we use a special mark which is called the cross mark. For the tracking control, we construct PID control with an extended Kalman filter to realize control system without delay. Through some experiments, we verify performance of observation device and show availability of our proposed method.

Tracking control system based on visual feedback

In this paper, we developed a devise for realizing tracking control using the image data. Then, we consider the method of image processing for detecting the position of a moving object which exists in the distance from a CCD camera, and treat tracking control problem with visual feedback for enabling position measurement of the object.