Wireless vision based moving object tracking robot through perceptual color space

Abstract

We present a wireless vision-based scheme for driving a wireless mobile robot to track a moving object. Objects are identified based on their unique color. These visual cues will be removed in the near future so that new vision algorithms are needed to cope with this. In this paper we present a method for detecting and tracking the ball with the help of the color information obtained from the colored object. Our method relies on a two-level approach. On the lower level, to detect the color object controlling the Wireless Mobile robot platform which carries the wireless camera is controlled so as to keep the target at the center of the image plane. On the higher level, the robot operates under the assumption that the camera system achieves perfect tracking. In particular, the relative position of the object is retrieved from the Image coordinates through simple geometry, and used to compute a control law driving the robot to the target. Various possible choices are discussed for the highlevel robot controller. Control of the Wireless robot is done based on the perceptual color information of the colored object acquired from the wireless camera