Image feedback path tracking control using an uncalibrated CCD camera
Image feedback path tracking (IFPT) control of a laser light point (LLP) using a CCD camera is studied in this paper. The tracking path and the LLP are assumed clearly focused in the scene, but no camera calibration is needed. A modified version of the thinning algorithm SPTA is proposed to skeletonize the path in a piecewise manner. The proposed thinning algorithm takes less computer time than the original SPTA and makes the real-time skeletonization possible. Included in the paper is also the development of a control algorithm with image feedback to assure LLP tracking along the required path, as well as an experimental study to demonstrate how IFPT control can be realized in practice.
tracking control thinning algorithm vision servo visual feedback intelligent machining