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International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)

By
Chen Ming
Chen Ming
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ISBN:
9780791859902
No. of Pages:
1400
Publisher:
ASME Press
Publication date:
2011

We describe the fusion of two separate methods, used to track a moving object with an autonomous robot. Our robot is equipped amongst others with a Laser Measurement System (LMS) and a web cam. The LMS is a so called line scanner which delivers distance values only in a horizontal plane. Due to the lack of a 3-dimensional representation of the surroundings given by this, the scanner is equipped with a custom built tilt mechanism. In this approach the tilt mechanism is controlled by an estimation from a visual object tracker to ensure, that the scanner always points to the vertical middle of the desired tracking object. This method works for all kinds of tracking objects, different velocities and manifold lighting conditions without adjustments to the parameter set.

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