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Feedforward-Output Tracking Regulation Control for Human-in-the-Loop Camera Systems
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American Control Conference (ACC), Portland OR, pp. 3676-3681
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Platforms like gantries, booms, aircraft and submersibles
are equipped with cameras. People teleoperate
such platforms to capture desired views of a
scene or a target. To avoid collisions with the environment
and occluded views, such platforms are often
equipped with redundant degrees-of-freedom. The
operator must manually coordinate multiple degreesof-
freedom in order to get desired views. Tracking
moving targets becomes especially tedious and often
requires several highly skilled operators. Visualservoing
some degrees-of-freedom may reduce operator
burden and improve tracking performance. This paper
builds upon previous successes with human-in-the-loop
visual-servoing by marrying the platform’s dynamics
with computer vision. A broadcast boom is modelled
and both simulation and experimental tests contrasting
trained and untrained camera operators are presented.
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2005
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No file uploaded
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STANCIU Rares
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OH Paul
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International Conference Proceedings
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http://prism2.mem.drexel.edu/~paul/papers/stanciuAcc2005.pdf
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Numerical Simulation and Parallel Computing Laboratory
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