How can I make robot follow a particular feature in the image?

asked 2017-11-06 07:16:08 -0600

ZainMehdi gravatar image

I would like to make my robot follow a path that I draw on an image using my mouse. I could use visual servoing to make it follow a particular object or feature? but how can I go about it. My idea is to trace a path in the image and then make the robot follow that path. I cannot use Inverse Perspective Mapping (IPM) here as I will be dealing with non planer scenes. Any help would be appreciated

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did you solve your issue ?

Abdu gravatar image Abdu  ( 2018-01-26 09:53:22 -0600 )edit

I am still working on it. The way to go about it is to use visual servoing using features you select to follow and then use optical flow to track those features.

ZainMehdi gravatar image ZainMehdi  ( 2018-01-26 11:39:16 -0600 )edit

I want to do visual tracking with real ur5 arm. Right now, I use aruco marker, I can detect the marker and obtain the pose of it in rviz( I have the TF of marker and ur5 in rviz), but I don't know how to make the end-effector of ur5 track and follow the marker.

Abdu gravatar image Abdu  ( 2018-01-26 13:46:50 -0600 )edit

I would advise you to study a bit about visual servoing. Then you can use VISP to carry a variety of taks.

ZainMehdi gravatar image ZainMehdi  ( 2018-01-26 13:50:05 -0600 )edit
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