Implementation of a following wheel robot featuring stereoscopic vision

Abstract

This paper describes how two cameras were used to implement stereoscopic visual imaging through a robot vision system. Image processing was applied to construct a real-time stereoscopic image tracking system for use in robots. The target object was sought by image preprocessing. The deviation of the target object from the optical center of the two cameras was measured to calculate the stereoscopic image depth of the target object, and the target object was instantly locked for real-time tracking. This system consists of two parts. The first part uses depth calculation to determine the distance between the target object and robot platform and applies image processing to simplify the image. The deviation angles of the left and right images are subsequently measured to calculate the target object distance. The second part uses real-time image tracking so that the platform can lock the image of the target object into an overlapping image. Proportional–integral–derivative (PID) feedback controls the robot movement and instantly obtains the target object and offset direction. The signal is exported to dc servo motors to drive the rotation of the two cameras and the movement of the platform. The image of the target object is locked in the image center of the stereoscopic visual system for real-time tracking.