Technical Reports (CIS)

Document Type

Technical Report

Subject Area


Date of this Version

February 1989


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-89-18.


This paper presents some preliminary experimental results in robotic visual servoing, utilizing a newly available hardware region-growing and moment-generation unit. A Unix-based workstation in conjunction with special purpose video processing hardware has been used to visually close the robot position loop at video field rate, 60Hz.

The architecture and capabilities of the system are discussed. Performance of the closed-loop position control is investigated analytically and via step response tests, and experimental results are presented. Initial results are for 2 dimensional servoing, but extensions to 3 dimensional positioning are covered along with methods for monocular distance determination.

Finally some limitations of the approach and areas for further work are covered.



Date Posted: 24 January 2008