Bionics-Based Approach for Object Tracking to Implement in Robot Applications

Authors

  • Hussam K. Abdul-Ameer Department of biomedical Engineering/ Al-Khwarizmi College of Engineering/ University of Baghdad

Abstract

In this paper, an approach for object tracking that is inspired from human oculomotor system is proposed and verified experimentally. The developed approach divided into two phases, fast tracking or saccadic phase and smooth pursuit phase. In the first phase, the field of the view is segmented into four regions that are analogue to retinal periphery in the oculomotor system. When the object of interest is entering these regions, the developed vision system responds by changing the values of the pan and tilt angles to allow the object lies in the fovea area and then the second phase will activate. A fuzzy logic method is implemented in the saccadic phase as an intelligent decision maker to select the values of the pan and tilt angle based on suggested logical rules. In smooth pursuit phase, the object is kept in the center area of the field of the view by smooth adjusting the values of the pan and tilt angles where this stage is analogue to putting the observing object in the fovea centralis of the oculomotor system. The proposed approach was implemented by using (Camera-Pan / Tilt) configuration and showed good results to improve the vision capability of the humanoid robots.

Downloads

Download data is not yet available.

References

[1] Won-Cheol Kim, Jung-Hwan Kim, Minho Lee, Jang-Kyoo Shin, Hyun-Seung Yang, and Hiroo Yonezu, “Smooth Pursuit Eye Movement System Using Artificial Retina Chip and Shape Memory Alloy Actuator,” IEEE SENSORS J., vol. 5, no. 3,pp. 901-509, June 2005.
[2] Emanuele Trucco and Konstantinos Plakas, “Video Tracking: A Concise Survey,” IEEE J. OF OCEANIC ENGINEERING, vol. 31, no. 2, pp. 520-528, APRIL 2006
[3] Kwang-Hee Lee, Do-Eun Kim, Sang Hwa Lee, Young-Ho Lee, and Tae-Yong Kuc, “Visual Servoing of 8-DOF Arm for Mobile Robot Platform,” Int. Conf. on Control, Automation and Systems, in COEX, Seoul, Korea, Oct. 14-17, 2008, pp. 2176-2180.
[4] Lin Rui, Du Zhijiang, He Fujun, Kong Minxiu, and Sun Lining, “Tracking a Moving Object with Mobile Robot Based on Vision,” IEEE/WCCI, Int. Conf. on Neural Networks, 1-8 June 2008, pp. 716 – 720.
[5] J. Takahashi, M.D. Rokunuzzaman, K. Sekiyma, and T. Fukuda, “Mobile Robotic Sensor Network Using Vision Tracking,” IEEE/SICE Int. Sympo. on System Integration, 4-4 Dec. 2008, pp. 117 – 122.
[6] Youngrock Yoon, Akio Kosaka, and Avinash C. Kak, “A New Kalman-Filter-Based Framework for Fast and Accurate Visual Tracking of Rigid Objects,” IEEE TRANS. ON ROBOTICS, vol. 24, no. 5, pp.1238-1251, Oct. 2008.
[7] Gabriel Recatal´a, Raffaella Carloni, Claudio Melchiorri, Pedro J. Sanz, Enric Cervera, and A´ ngel P. del Pobil, ”Vision-Based Grasp Tracking for Planar Objects,” IEEE TRANS. ON SYSTEMS, MAN, AND CYBERNETICS—PART C: APPLICATIONS AND REVIEWS”, vol. 38, no. 6, pp. 844-849, Nov. 2008.
[8] Shijie Dai, Weiguo Ren, Fenglong Gu, He Huang, and Shuying Chang, “Implementation of Robot Visual Tracking System Based on Rough Set Theory” IEEE/FSKD - Fifth International Conference on Fuzzy Systems and Knowledge Discovery, vol. 2, 18-20 Oct. 2008, pp. 155 – 160.
[9] Diansheng Chen, Feng Bai, Yi Xie, and Tianmiao Wang, “Tracking System of Motion Object for Scout Robot,” IEEE/ROBIO Int. Conf. on Robotics and Biomimetics, 22-25 Feb. 2009, pp.1111 – 1116.
[10] Francisco J. Montecillo-Puente, Víctor Ayala-Ramírez, Arturo Pérez-García and Raú1 E. Sánchez-Yáňez, “Fuzzy color tracking for robotic tasks,” IEEE Int. Conf. on Systems, Man and Cybernetics, vol. 3, 5-8 Oct. 2003, pp. 2769 – 2773.
[11] Suk-Bum Kang and Tae-Kyu Yang, “Tracking for Moving Object Using Adaptive Rao-Blackwellized Particle Filter and Fuzzy Control System,” IEEE/ ICCAS Int. Conf. on Control, Automation and Systems, 17-20 Oct. 2007, pp. 420 – 424.
[12] Manuel J. Ferreira, Cristina P. Santos, and Joao Monteiro, “Texture Cue Based Tracking System Using Wavelet Transform and a Fuzzy Grammar,” IEEE Int. Conf. on Industrial Informatics, vol. 1, 23-27 June 2007 pp. 393 – 398.
[13] Kazuyuki Morioka, Szilveszter Kovacs, Joo-Ho Lee, Peter Korondi, and Hideki Hashimoto, “Fuzzy-Based Camera Selection for Object Tracking in a Multi-Camera System,” IEEE Int. Conf. on Human System Interactions, 25-27 May 2008, pp.767 – 772.
[14] Huiyu Zhou, Murtaza Taj, and Andrea Cavallaro, “Target Detection and Tracking with Heterogeneous Sensors,” IEEE J. OF Selected Topics in Signal Processing, vol. 2, no. 4, pp. 503-513. Aug. 2008.
[15] Hairong Zou, Zhenbang Gong, Shaorong Xie, and Wei Ding, “A Pan-tilt Camera Control System ofUAV Visual Tracking Based on Biomimetic Eye,” IEEE Int. Conf. on Robotics and Biomimetics, 17 – 20 Dec. 2006, pp.1477-1482.
[16] Fortunato Flores Ando and Alfredo Weitzenfeld Ridel,“Visual Input Compensation using the Crowley-Arbib Saccade Model,” IEEE Int. Conf. on Advanced Robotics, 8-20 July 2005, pp. 476 – 483.
[17] Ofir Avni, Francesco Borrelli, Gadi Katzir, Ehud Rivlin, and Hector Rotstein, “Scanning the Environment with Two Independent Cameras - Biologically Motivated Approach,” IEEE/ RSJ Int. Conf. on Intelligent Robots and Systems, 9 - 15 Oct. 2006, pp. 5297-5302.
[18] Xiaolin Zhang, “An Object Tracking System Based on Human Neural Pathways of Binocular Motor System,” IEEE Int. Conf. on Control, Automation, Robotics and Vision, 5-8 Dec. 2006, pp. 1 – 8.
[19] Hairong Zou, “Modeling and Simulation of the Oculomotor Control System,” IEEE Int. Conf. on Bioinformatics and Biomedical Engineering, 16-18 May 2008 pp. 853 – 856.
[20] S. I. Fox, Human Physiology.9th edition, McGrawHill, 2006.
[21] A. Vander, J. Sherman, and D. Luciano, Human Physiology. 8th edition, McGrawHill, 2001.
[22] Joseoh D. Bronzino, The Biomedical Engineering Handbook. 2nd edition, CRC PRESS, 2000.

Downloads

Published

2010-03-01

How to Cite

Bionics-Based Approach for Object Tracking to Implement in Robot Applications. (2010). Al-Khwarizmi Engineering Journal, 6(1), 31-47. https://alkej.uobaghdad.edu.iq/index.php/alkej/article/view/477

Publication Dates