Image feedback path tracking control using an uncalibrated CCD camera

Abstract. Image feedback path tracking (IFPT) control of a laser light point (LLP) using a CCD camera is studied in this paper. The tracking path and the LLP are assumed clearly focused in the scene, but no camera calibration is needed. A modified version of the thinning algorithm SPTA is proposed to skeletonize the path in a piecewise manner. The proposed thinning algorithm takes less computer time than the original SPTA and makes the real-time skeletonization possible. Included in the paper is also the development of a control algorithm with image feedback to assure LLP tracking along the required path, as well as an experimental study to demonstrate how IFPT control can be realized in practice. Received: 10 November 1999 / Accepted: 9 March 2000