Name
Abstract | ||
|---|---|---|
The paper proposes an algorithm for object motion estimation. It is assumed that the object motion is composed of primitive motions and the total motion is generated by simply switching these primitive motions. The proposed estimator for visual servoing has two stages: Kalman filter and validation gate. Models of primitive motions are connected and an augmented system is designed. Each primitive motion corresponds to an invariant subset in the state space of the augmented system. The motion switching is generated by a state transition among the state subsets. A Kalman filter is used to predict the object motion on the basis of the augmented system. Switching of actual object motion is detected by the validation gate. The validation gate is implemented by nonlinear least square fitting of the current state onto the nearest state subsets. Real-time experiments of object tracking demonstrate the effectiveness of the proposed estimator. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1014773 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
Kalman filters,filtering theory,least squares approximations,motion estimation,robot vision,state-space methods,Kalman filter,invariant subset,mode switching estimator,nonlinear least-square fitting,object motion estimation,object tracking,primitive motion models,primitive motions,real-time experiments,state space,state transition,validation gate,visual servoing | Nonlinear system,Control theory,Control engineering,Artificial intelligence,Motion estimation,Computer vision,Kalman filter,Video tracking,Visual servoing,Invariant (mathematics),State space,Mathematics,Estimator | Conference |
Volume | Issue | ISBN |
2 | 1 | 0-7803-7272-7 |
Citations | PageRank | References |
3 | 0.45 | 4 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Koichi Hashimoto | 1 | 348 | 58.26 |
| Nagahama, K. | 2 | 3 | 0.45 |
| Toshiro Noritsugu | 3 | 92 | 29.49 |