Bionics-Based Approach for Object Tracking to Implementin Robot Applications

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...

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Autor principal:	Hussam K. Abdul-Ameer
Formato:	article
Lenguaje:	EN
Publicado:	Al-Khwarizmi College of Engineering – University of Baghdad 2010
Materias:	Tracking bionics and fuzzy decision maker. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/591f8df849c54fc79f2b5b7dc36246e3
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id	oai:doaj.org-article:591f8df849c54fc79f2b5b7dc36246e3
record_format	dspace
spelling	oai:doaj.org-article:591f8df849c54fc79f2b5b7dc36246e32021-12-02T07:39:28ZBionics-Based Approach for Object Tracking to Implementin Robot Applications1818-1171https://doaj.org/article/591f8df849c54fc79f2b5b7dc36246e32010-01-01T00:00:00Zhttp://www.iasj.net/iasj?func=fulltext&aId=2243https://doaj.org/toc/1818-1171In 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.Hussam K. Abdul-AmeerAl-Khwarizmi College of Engineering – University of BaghdadarticleTrackingbionicsand fuzzy decision maker.Chemical engineeringTP155-156Engineering (General). Civil engineering (General)TA1-2040ENAl-Khawarizmi Engineering Journal, Vol 6, Iss 1, Pp 31-47 (2010)
institution	DOAJ
collection	DOAJ
language	EN
topic	Tracking bionics and fuzzy decision maker. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	Tracking bionics and fuzzy decision maker. Chemical engineering TP155-156 Engineering (General). Civil engineering (General) TA1-2040 Hussam K. Abdul-Ameer Bionics-Based Approach for Object Tracking to Implementin Robot Applications
description	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.
format	article
author	Hussam K. Abdul-Ameer
author_facet	Hussam K. Abdul-Ameer
author_sort	Hussam K. Abdul-Ameer
title	Bionics-Based Approach for Object Tracking to Implementin Robot Applications
title_short	Bionics-Based Approach for Object Tracking to Implementin Robot Applications
title_full	Bionics-Based Approach for Object Tracking to Implementin Robot Applications
title_fullStr	Bionics-Based Approach for Object Tracking to Implementin Robot Applications
title_full_unstemmed	Bionics-Based Approach for Object Tracking to Implementin Robot Applications
title_sort	bionics-based approach for object tracking to implementin robot applications
publisher	Al-Khwarizmi College of Engineering – University of Baghdad
publishDate	2010
url	https://doaj.org/article/591f8df849c54fc79f2b5b7dc36246e3
work_keys_str_mv	AT hussamkabdulameer bionicsbasedapproachforobjecttrackingtoimplementinrobotapplications
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Bionics-Based Approach for Object Tracking to Implementin Robot Applications

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