International Journal of Internet, Broadcasting and Communication

The Institute of Internet, Broadcasting and Communication (한국인터넷방송통신학회)
권호 표지
DOI QR코드

DOI QR Code

Stereo Vision Based Balancing System Results

  • Received : 2015.11.10
  • Accepted : 2015.12.21
  • Published : 2016.02.29
Download PDF
⟨ Previous Next ⟩

Abstract

Keeping a system in stable state is one of the important issues of control theory. The main goal of our basic research is stability of unmanned aerial vehicle (quadrotor). This type of system uses a variety of sensors to stabilize. In control theory and automatic control system to stabilize any system it is need to apply feedback control based on information from sensors. Our aim is to provide balance based on the 3D spatial information in real time. We used PID control method for stabilization of a seesaw balancing system and the article presents our experimental results. This paper presents the possibility of balancing of seesaw system based on feedback information from stereo vision system only.

Keywords

References

  1. SelcukKizir, Hasan Ocak, ZaferBingul and CuneytOysu "Time delay compensated vision based stabilization control of an inverted pendulum" International Journal of Innovative Computing, Information and Control Volume 8, Number 12, December 2012
  2. Jan Mattner, Sacha Lange, Martin Riedmiller "Learn Swing Up and Balance a Real Pole Based Raw Visual Input Data" Machine Learning Lab, Department of Computer Science, University of Freiburg, Germany.
  3. Happing Wang, Afzal Chamroo, Christian Vasseur and VladimConcar "Hybrid Control for Vision Based Cart Inverted Pendulum System" 2008 American Control Conference.
  4. David Cabecinhas, Sergo Bras, Carlos Silvestre "Integrated Solution to Quadrotor Stabilization and Altitude Estimation Using aPan and Tilt Camera"
  5. Vishnu R. Desaraju, Nathan Machael, Martin Humenberger, Roland Brockers "Vision based Landing Site Evaluation and Trajectory Generation Toward Rooftop Landing" Carnegie Mellon University and California Institute of Technology
  6. ErdicAltug, Camillo Taylor "Vision Based Pose Estimation and Control of a Model Helicopter" International Journal of Robotics Research. May 2005
  7. C. Harris and M. Stephens. A Combined Corner and Edge Detector. Proc. AlveyVision Conf., Univ. Manchester, pp. 147-151, 1988
  8. J.Shi, C.Tomasi. Good Features To track. TR 93-1399, Cornell U., 1993
  9. C. Schmid, R. Mohr, and C. Bauckhage. Comparing and Evaluating Interesting Points. International Conference on Computer Vision, pp. 230-235, 1998.
  10. Z.Zheng, H.Wang and EKTeoh. Analysis of Gray Level Corner Detection. Pattern Recognition Letters, Vol. 20, pp. 149-162, 1999 https://doi.org/10.1016/S0167-8655(98)00134-2
  11. CordeliaSchmid, Roger Mohr, Christian Bauckhage, "Evaluation of Interest Point Detectors" International Journal of Computer Vision 37(2), 151-172, 2000 https://doi.org/10.1023/A:1008199403446
  12. Ц.Тэнгис, А.Батмөнх, Р.Бямбажав, Э.Наранбаатар, "Обьектын бодит хугацааны гурван хэмжээсхөдөлгөөний зураглалыг үүсгэх судалгаа" MMT conference 2015
  13. TengisTserendondog, Batmunkh Amar, NaranbaatarErdenesuren, "Drone State Estimation Using Stereo Vision Based on Multiple Features" KhurelTogoot 2015.
  14. TengisTserendondog, Batmunkh Amar, "Mapping of Real-Time 3D object movement" International Journal of Internet, Broadcasting and Communication, Vol.7 No.2 1-8 (2015) https://doi.org/10.7236/IJIBC.2015.7.2.1