Design and Implementation of a Computer Vision Tracking System
Abdulrahman Nasereldin Bilal, Mohamed Siddig Altyeb, Sharief F. Babiker
Journal of Intelligent Computing, Vol. 4, No. 1, 2013.
DOI: 
Link: http://www.dline.info/jic/fulltext/v4n1/2.pdf
Abstract:
Visual serving, also known as Vision-Based Robot Control and abbreviated VS, is a technique which uses feedback information extracted from a vision sensor to control the motion of a robot. In the recent past, research on imagebased visual serving has been concentrated on potential problems of stability and on robustness with respect to camera calibration errors and feature extracting errors. We present two image-based visual serving strategies for driving a robot equipped with a camera toward a desired configuration. Since the topic spans many disciplines our goal was to implement complete integrated robot by reviewing the prerequisite topics from robotics and computer vision. Since any visual servo system must be capable of tracking image features in a sequence of images, we also include an overview of feature-based and correlation-based methods for tracking without human intervention â€“ only GUI for calibration purposes and manual control. Moreover we have done a complete control driver for the robot using embedded systems. Simulation and experimental results show the effectiveness of the proposed system.