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A method for stereo-vision-based tracking for robotic applications.
- Source :
- Robotica; Jul2010, Vol. 28 Issue 4, p517-524, 8p, 1 Black and White Photograph, 1 Diagram, 2 Charts, 6 Graphs
- Publication Year :
- 2010
-
Abstract
- Vision-based tracking of an object using perspective projection inherently results in non-linear measurement equations in the Cartesian coordinates. The underlying object kinematics can be modelled by a linear system. In this paper we introduce a measurement conversion technique that analytically transforms the non-linear measurement equations obtained from a stereo-vision system into a system of linear measurement equations. We then design a robust linear filter around the converted measurement system. The state estimation error of the proposed filter is bounded and we provide a rigorous theoretical analysis of this result. The performance of the robust filter developed in this paper is demonstrated via computer simulation and via practical experimentation using a robotic manipulator as a target. The proposed filter is shown to outperform the extended Kalman filter (EKF). [ABSTRACT FROM AUTHOR]
Details
- Language :
- English
- ISSN :
- 02635747
- Volume :
- 28
- Issue :
- 4
- Database :
- Complementary Index
- Journal :
- Robotica
- Publication Type :
- Academic Journal
- Accession number :
- 51315863
- Full Text :
- https://doi.org/10.1017/S0263574709005827