Vision Servoing of Robots

This is a Wiki for the introduction of Visual capabilities on Blackfin Handy Board.

The main challenge of integrating vision as a sensor in any robotic task is to arrive at image processing times close (or even better, less expensive) to the robot sampling rates. Actually, industrial robotics have control laws that turns around 1000 Hz!!. This is not obviously this is not the case on the kind of applications we have in mind, nevertheless it is necessary to consider that as fast as we can compute the robotic situation we can feedback such an information.

Specific References for CV on the Blackfin

In the section ACHIEVING OPTIMAL PERFORMANCE FROM THE C/C++ SIRCE CODE of the book C/C++ Compiler and Library Manual for Blackfin Processors you will find a very nice list of conseils that you have to take into account.

General References

• Basic introduction to motor control

• CVonline: The Evolving, Distributed, Non-Proprietary, On-Line Compendium of Computer Vision

• Vision on AAAI

• MIT 6.892 (H) Computer Vision for Interface and Surveillance: Algorithms and Implications