Visual Servoing with Adjustable Zoom Cameras

Visual Servoing with Adjustable Zoom Cameras

  All service robots like FRIEND need different sensor signals to implement semi autonomous behaviour. For visually guided tasks FRIEND is equipped with two zoom-cameras mounted on pan-tilt heads to actively control the orientation of the cameras. Due to variable camera orientation, the common field of view is extended and robustness of visual servoing is improved. This paper presents the extension of the well known visual servoing method extended for adjustable zoom cameras as visual system. The mathematical description of the method is presented. Then pan-tilt and zoom control algorithms, integration of the corresponding control loops into the main system, and its influence on visual guided system are also discussed.