ズーム機構を利用した視覚サーボ系の構成

抄録

This paper proposes a complementary visual servoing controller of both zoom and arm mechanisms. A camera, which is used as an artificial vision, often has a zoom mechanism. A zoom mechanism cannot realize fast motion while an arm mechanism can do, and it has only one degree of freedom. On the other hand the arm mechanism cannot cover wide range of change in the image while the zoom mechanism can do. First we discuss on a condition that camera position and zoom setting are regarded as redundant. Then a visual servoing controller is proposed making use of complementary characteristics of the both mechanisms. Experimental results demonstrate the effeciveness of the proposed method.