Ph.D. Proposal Presentation by Harry Douglas Garner, Jr.
Friday, December 1, 2000

(Dr. Kok-Meng Lee, advisor)

"Development of a Real-Time Vision Based Absolute Orientation Sensor"


A measurement system is a vital part of any feedback control system because it allows some aspect of the system to be controlled. In many nonlinear systems such as the variable reluctance spherical motor, absolute measurement of the system configuration is essential. In this research, a real-time vision based absolute orientation sensor will be developed to measure the absolute orientation of a spherical body for use in real-time control. This will be accomplished by analyzing images of a specially designed grid pattern printed onto the spherical body to obtain the information necessary to recover the body's orientation in an efficient manner. Primary objectives of this research include the development of efficient image processing techniques, simplified techniques for the transfer of a specially designed grid pattern onto a spherical body, and the use of the grid pattern as a means of automatic camera calibration. Experimental tests and OpenGL based simulations will also be done to verify the capability of the absolute orientation measurement system. It is expected that this thesis will extend the use of vision based measurement systems to real-time control applications that require absolute measurements, and it will also serve as a basis for other similar systems applied to absolute measurement tasks.