A state observer for using a slow camera as a sensor for fast control applications

Reinhard Gahleitner; Martin Schagerl

doi:10.1117/12.2006106

A state observer for using a slow camera as a sensor for fast control applications

Reinhard Gahleitner, Martin Schagerl

Research Center Wels

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution

1 Citation (Scopus)

Abstract

This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.

Original language	English
Title of host publication	Proceedings of SPIE-IS and T Electronic Imaging - Image Processing
Subtitle of host publication	Machine Vision Applications VI
Number of pages	10
DOIs	https://doi.org/10.1117/12.2006106
Publication status	Published - 2013
Event	Electronic Imaging 2013 - San Francisco, United States Duration: 3 Feb 2013 → 7 Feb 2013 http://spie.org/app/program/index.cfm?fuseaction=conferencedetail&export_id=&ID=x16223&redir=x16223.xml&conference_id=997528&event_id=996859&programtrack_id=997509

Publication series

Name	Proceedings of SPIE - The International Society for Optical Engineering
Volume	8661
ISSN (Print)	0277-786X

Conference

Conference	Electronic Imaging 2013
Country/Territory	United States
City	San Francisco
Period	03.02.2013 → 07.02.2013
Internet address	http://spie.org/app/program/index.cfm?fuseaction=conferencedetail&export_id=&ID=x16223&redir=x16223.xml&conference_id=997528&event_id=996859&programtrack_id=997509

Keywords

Vision based control
real-time image processing
multirate state observer
inverted pendulum
Inverted pendulum
Real-time image processing
Multirate state observer

Access to Document

10.1117/12.2006106

Cite this

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title = "A state observer for using a slow camera as a sensor for fast control applications",

abstract = "This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.",

keywords = "Vision based control, real-time image processing, multirate state observer, inverted pendulum, Vision based control, real-time image processing, multirate state observer, inverted pendulum, Inverted pendulum, Real-time image processing, Multirate state observer",

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doi = "10.1117/12.2006106",

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note = "Electronic Imaging 2013 ; Conference date: 03-02-2013 Through 07-02-2013",

url = "http://spie.org/app/program/index.cfm?fuseaction=conferencedetail&export_id=&ID=x16223&redir=x16223.xml&conference_id=997528&event_id=996859&programtrack_id=997509",

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Gahleitner, R & Schagerl, M 2013, A state observer for using a slow camera as a sensor for fast control applications. in Proceedings of SPIE-IS and T Electronic Imaging - Image Processing: Machine Vision Applications VI., 866104, Proceedings of SPIE - The International Society for Optical Engineering, vol. 8661, Electronic Imaging 2013, San Francisco, United States, 03.02.2013. https://doi.org/10.1117/12.2006106

A state observer for using a slow camera as a sensor for fast control applications. / Gahleitner, Reinhard; Schagerl, Martin.
Proceedings of SPIE-IS and T Electronic Imaging - Image Processing: Machine Vision Applications VI. 2013. 866104 (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 8661).

Research output: Chapter in Book/Report/Conference proceedings › Conference contribution

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PY - 2013

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N2 - This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.

AB - This contribution concerns about a problem that often arises in vision based control, when a camera is used as a sensor for fast control applications, or more precisely, when the sample rate of the control loop is higher than the frame rate of the camera. In control applications for mechanical axes, e.g. in robotics or automated production, a camera and some image processing can be used as a sensor to detect positions or angles. The sample time in these applications is typically in the range of a few milliseconds or less and this demands the use of a camera with a high frame rate up to 1000 fps. The presented solution is a special state observer that can work with a slower and therefore cheaper camera to estimate the state variables at the higher sample rate of the control loop. To simplify the image processing for the determination of positions or angles and make it more robust, some LED markers are applied to the plant. Simulation and experimental results show that the concept can be used even if the plant is unstable like the inverted pendulum.

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BT - Proceedings of SPIE-IS and T Electronic Imaging - Image Processing

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Y2 - 3 February 2013 through 7 February 2013

ER -

A state observer for using a slow camera as a sensor for fast control applications

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Keywords

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