Fung R.-F. (ed.) Visual Servoing

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Visual Servoing

Edited by

Rong-Fong Fung

Intech

Published by Intech

Intech

Olajnica 19/2, 32000 Vukovar, Croatia

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Free online edition of this book you can find under www.sciyo.com

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First published April 2010

Printed in India

Technical Editor: Teodora Smiljanic

Cover designed by Dino Smrekar

Visual Servoing, Edited by Rong-Fong Fung

p. cm.

ISBN 978-953-307-095-7

Preface

In the machine vision field, the theory has been studied for many decades. Fortunately,

the computer technique is also developed rapidly simultaneously. Recently, these theories

of machine vision have been realized practically in variety applications. The machine vision

system consists of the optics, electronics, machinery and the computer information

technology systematically. The technique is applied widely industrially including vision

servoing trajectory motion control, optical measurement and automatic examination, pattern

identification and system monitoring and so on. The advantages of the vision system are the

non-contact measurement, versatility, cost effectiveness, and practicality. Therefore, the

machine vision technology can be investigated and studied enthusiastically to improve the

industrial development and human engineering.

In the field of machine vision, there are many technique books about introducing the

fundamental theory of vision. But there is not a book about how to employ the vision theory

in the market conditions for students or researchers who want to realize the technique of

machine vision. It is meaningful to employ the vision theory to the practical application, and

the vision theory can also be employed originally by different field researchers.

I am pleasant that the book consists of 10 chapters by different fields about vision

applications. The authors in chapters are excellent in their research fields. It is honored to

collect the 10 chapters that depict the multiplicity of the vision theory by the authors. For the

readers, you can select some kinds of applications you are interesting in this book, and to

study the detailed contents in each chapter. This book collects the main studies about

machine vision currently in the world, and has a powerful persuasion in the applications

employed in the machine vision. The contents, which demonstrate that the machine vision

theory, are realized in different field. For the beginner, it is easy to understand the

development in the vision servoing. For engineer, professor and researcher, they can study

and learn the chapters, and then employ another application method.

The goal of this book is to introduce the visional application by excellent researchers in

the world currently and offer the knowledge that can also be applied to another field

widely. This present book provides the diversified applications to visual technique. In the

content of this book, there are two main parts that consist of vision servoing control

(chapters 1~5) and vision servoing application (chapters 6~10).

The completion of this book came at the expense of all authors’ long-time effort. I am

indebted to Lélio R. Soares Jr, Victor H. Casanova Alcalde, Nils T Siebel, Dennis Peters,

Gerald Sommer, Xinhan Huang, Xiangjin Zeng, Min Wang, Rares Stanciu, Paul Oh, Kun-

Yung Chen, Rafael Herrejon Mendoza, Shingo Kagami, Koichi Hashimoto, Yuta Yoshihata,

Kei Watanabe, Yasushi Iwatani, Koichi Hashimoto, Mika Karaila, Pascual Campoy, Ivan F.

Mondragón, Mariko Nakano-Miyatake and Hector Perez-Meana heartily. Moreover, I

would be happy to receive any comments, which would be helpful to improve this book.

Editor

Professor Rong-Fong Fung

Department of Mechanical and Automation Engineering,

National Kaohsiung First University of Science and Technology,

1 University Road, Yenchau, Kaohsiung County 824,

Taiwan

rffung@ccms.nkfust.edu.tw

Contents

Preface V

1. A Modeling and Simulation Platform for Robot Kinematics

aiming Visual Servo Control

001

Lélio R. Soares Jr. and Victor H. Casanova Alcalde

2. Models and Control Strategies for Visual Servoing 021

Nils T Siebel, Dennis Peters and Gerald Sommer

3. The Uncalibrated Microscope Visual Servoing

for Micromanipulation Robotic System

053

Xinhan Huang, Xiangjin Zeng and Min Wang

4. Human-in-the-Loop Control for a Broadcast Camera System 077

Rares Stanciu and Paul Oh

5. Vision-Based Control of the Mechatronic System

095

Rong-Fong Fung and Kun-Yung Chen

6. Online 3-D Trajectory Estimation of a Flying Object

from a Monocular Image Sequence for Catching

121

Rafael Herrejon Mendoza, Shingo Kagami and Koichi Hashimoto

7. Multi-Camera Visual Servoing of a Micro Helicopter Under Occlusions 135

Yuta Yoshihata, Kei Watanabe, Yasushi Iwatani and Koichi Hashimoto

VIII

8. Model Based Software Production Utilized by Visual Templates 149

Mika Karaila

9. Visual Servoing for UAVs 181

Pascual Campoy, Iván F. Mondragón,

Miguel A. Olivares-Méndez and Carol Martínez

10. Video Watermarking Technique using Visual Sensibility

and Motion Vector

217

Mariko Nakano-Miyatake and Hector Perez-Meana