Fuzzy Visual Servoing for an Active Camera

A. Pérez-García, V. Ayala-Ramírez, and R. Jaime-Rivas (Mexico)


Fuzzy logic, Computer vision, Control systems.


We present a visual servoing system to control an ac tive camera. Visual task for the camera is to center an ob ject with a known model in the field of view of the camera. Our system implements the two-dimensional controller by multiplexing a one-dimensional fuzzy controller. We have simulated our system and obtained the controller response to different inputs. Static error for our system is lower than 1.5 pixels when tested with step and ramp inputs. We also present visual servoing system response to arbitrary object trajectories.

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