Name
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). |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1017/S0263574709005827 | CDC |
Keywords | Field | DocType |
Kalman filters,manipulators,probability,robot vision,state estimation,stereo image processing,dynamic system,ellipsoidal set,extended Kalman filter,linear robust filter,measurement conversion techniques,probability,robotic applications,robotic manipulator,robust control,state estimation errors,stereo vision based tracking,stereo vision setting,vision sensors | Computer vision,Extended Kalman filter,Linear filter,Control theory,Stereopsis,Computer science,Perspective (graphical),Robustness (computer science),Kalman filter,Artificial intelligence,Robust control,Invariant extended Kalman filter | Journal |
Volume | Issue | ISSN |
28 | 4 | 0263-5747 |
ISBN | Citations | PageRank |
978-1-4244-3124-3 | 1 | 0.35 |
References | Authors | |
14 | 10 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pubudu N. Pathirana | 1 | 520 | 54.96 |
| Adrian n. Bishop | 2 | 334 | 25.08 |
| Andrey V. Savkin | 3 | 1431 | 178.60 |
| Samitha w. Ekanayake | 4 | 6 | 3.34 |
| Timothy j. Black | 5 | 1 | 0.35 |
| PathiranaPubudu n. | 6 | 1 | 0.35 |
| BishopAdrian n. | 7 | 1 | 0.35 |
| SavkinAndrey v. | 8 | 1 | 0.35 |
| EkanayakeSamitha w. | 9 | 1 | 0.35 |
| BlackTimothy j. | 10 | 1 | 0.35 |