Chayatat Ratanasawanya Min He April 6, 2010

 Recall previous presentation  The goal  Progress report ◦ Image processing ◦ depth estimation ◦ Camera placement  Obstacles ◦ Combine image processing and control Simulink models  Idea for the next step  Questions/Comments

 4 visual-servoing structures ◦ Dynamic position-based look-and-move ◦ Dynamic image-based look-and-move ◦ Position-based visual servoing (PBVS) ◦ Image-based visual servoing (IBVS)  Implemented a simulation of the dynamic position-based look-and-move system.  Implemented a Simulink model to locate the centroid of a ping-pong ball in image.

 Implement the system using PBVS, IBVS, or both techniques.  Tasks to tackle: ◦ Image processing ◦ Depth estimation ◦ Camera placement on the helicopter model ◦ Combine image processing and control Simulink models. ◦ Jacobian matrix derivation

 Use the diameter of the ball in image to estimate the depth Depth, D Focal length F=538 pixel Center of projection Actual ball diameter d b =40mm Ball diameter on image, d img

area dm real dis Cal dis

 Combining our image processing model and the control model has been a challenging task. Global variable

exex eyey Increment in pitch and yaw angles LQR controller

 Questions/comments are welcome