A algorithm on robot tracking about complex curve with visual sensor

시각센서를 이용한 로보트의 복잡한 곡선추적에 관한 알고리즘

In this thesis, we work on the curve recognition with real time processing and the Robot tracking method on recognized curve. Image information of segment curve is supplied to computer to run to a Robot so that it is a feedback system. Image coordinate frame to world coordinate transformation represents in this paper and curve matching algorithm subscribes by two method, first transformation matching algorithm, second image coordinate matching algorithm. Also Robot running time to computer image processing time relationships finally includes.