Implementation and Validation of Bioplausible Visual Servoing Control

Report No. ARL-TR-6387
Authors: Vishnu Ganesan, Alec Koppel, Shuo Han, Joe Conroy, Alma Wickenden, Richard Murray, and William Nothwang
Date/Pages: March 2013; 32 pages
Abstract: In this report, we compare the performance of the Lucas-Kanade algorithm with feature tracking with the bioplausible optical flow algorithm to achieve pose stabilization in the context of one-dimensional (1-D) attitude stabilization. These results have been benchmarked against an ideal controller in both simulation and robotic experimentation. Within both environments, the accuracy, stability, and settling time were evaluated as a function of contrast and system noise. Both algorithms achieved reasonable performance when compared to the ideal controller, but in most cases the Lucas-Kanade algorithm outperformed the bioplausible algorithm. Within the evaluated serial implementation, the Lucas-Kanade algorithm was also faster. It is anticipated that both performance and processing speed will improve for the bioplausible algorithm when it is implemented in a parallel instantiation.
Distribution: Approved for public release
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Last Update / Reviewed: March 1, 2013