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This video tutorial will show you how to implement a simple visual servoing control scheme for 2 degrees of freedom tilt pan cameras. The video tutorial can be found on YouTube.

 

The topics covered are:

00:00 – Introduction

01:02 – Path Creation

03:13 – Creation of an object that moves along a path

06:30 – Modelling a pan-tilt camera base

09:49 – Vision sensor addition and property modification

15:47 – Colour-based object detection with vision sensor filters

22:00 – Adding a script to the vision sensor

23:21 – Debug console,simAuxiliaryConsolePrint, and Object Handles

27:16 – Reading vision sensor data

32:56 – Programming a visual servoing control scheme

36:43 – Reducing tracking error

37:30 – Changing camera output and graphing joint velocities