Schiehlen and Dickmanns 1993 : Mobile robots operating autonomously have to perceive their environment; many advantages favor using a vision sensor. The concept of dynamic vision is an adequate solution to this problem. The ability to track moving objects is essential. Therefore, a two axis camera platform is described having several modes of operation, which can be mounted on a mobile robot.
An active vision system is presented, including the design of the pan-tilt head and the controller. Problems arising due to image processing delays, robotsí own motion and platform actuator disturbances, e.g. friction, are treated. An aircraft application for vision based autonomous landing is given.