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Vision Robotics Technology
Tracking In a multi-robot configuration, the controller tracks the slave with the stereo cameras and calculates the slave's relative position. Using this technique, the relative position of the slave can be calculated to a very high accuracy with limited computational requirements. This allows very precise movement including straight lines and following curves or contours. Reverse tracking works on a similar principle, except the slave is stationary and the controller moves. The controller still tracks the slave's relative position. In addition to the slave(s), landmarks from the environment are tracked using the KLT algorithm and stereo matched. The positions of the landmarks and the slave(s) from the start and end of the move are combined with the odometry to create a high accuracy estimate of each controller move so that localization process is easier. |
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